feat(lane_change): cancel lane change on red traffic light
CodeScene PR Check
❌ Code Health Quality Gates: FAILED
- Declining Code Health: 2 findings(s) 🚩
- Improving Code Health: 1 findings(s) ✅
- Affected Hotspots: 1 files(s) 🔥
Recommended Review Level: Detailed -- Inspect the code that degrades in code health.
View detailed results in CodeScene
Details
🚩 Declining Code Health (highest to lowest):
- Complex Method normal.cpp: NormalLaneChange::getLaneChangePaths 🔥
- Complex Method interface.cpp: LaneChangeInterface::updateState
✅ Improving Code Health:
- Overall Code Complexity normal.cpp 🔥
Annotations
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
LaneChangeInterface::updateState increases in cyclomatic complexity from 19 to 22, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.
Check notice on line 1 in planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Lines of Code in a Single File
The lines of code increases from 1431 to 1444, improve code health by reducing it to 1000. The number of Lines of Code in a single file. More Lines of Code lowers the code health.
Check warning on line 1382 in planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
NormalLaneChange::getLaneChangePaths increases in cyclomatic complexity from 44 to 46, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.
Check notice on line 1 in planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Overall Code Complexity
The mean cyclomatic complexity decreases from 5.22 to 5.17, threshold = 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.