feat: add published_time publisher debug to packages
CodeScene PR Check
❌ Code Health Quality Gates: FAILED
- Declining Code Health: 17 findings(s) 🚩
- Improving Code Health: 0 findings(s) ✅
- Affected Hotspots: 2 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 map_based_prediction_node.cpp: MapBasedPredictionNode::objectsCallback 🔥
- Large Method vehicle_cmd_gate.cpp: VehicleCmdGate::VehicleCmdGate
- Complex Method obstacle_velocity_limiter_node.cpp: ObstacleVelocityLimiterNode::onParameter
- Large Method node.cpp: ObstacleStopPlannerNode::ObstacleStopPlannerNode
- Complex Method node.cpp: ObstacleStopPlannerNode::onTrigger
- Large Method behavior_path_planner_node.cpp: BehaviorPathPlannerNode::BehaviorPathPlannerNode 🔥
- Complex Method node.cpp: ObjectAssociationMergerNode::objectsCallback
- Complex Method behavior_path_planner_node.cpp: BehaviorPathPlannerNode::run 🔥
- Large Method node.cpp: LidarCenterPointNode::LidarCenterPointNode
- Large Method map_based_prediction_node.cpp: MapBasedPredictionNode::MapBasedPredictionNode 🔥
- Large Method node.cpp: BehaviorVelocityPlannerNode::BehaviorVelocityPlannerNode
- Complex Method vehicle_cmd_gate.cpp: VehicleCmdGate::publishControlCommands
- Complex Method node.cpp: LidarCenterPointNode::pointCloudCallback
- Complex Method obstacle_velocity_limiter_node.cpp: ObstacleVelocityLimiterNode::onTrajectory
- Complex Method planning_validator.cpp: PlanningValidator::publishTrajectory
- Complex Method filter.cpp: pointcloud_preprocessor::Filter::faster_input_indices_callback
- Bumpy Road Ahead planning_validator.cpp: PlanningValidator::publishTrajectory
Annotations
Check warning on line 470 in control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
VehicleCmdGate::publishControlCommands increases in cyclomatic complexity from 13 to 14, 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 warning on line 246 in control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Large Method
VehicleCmdGate::VehicleCmdGate increases from 159 to 160 lines of code, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.
Check notice on line 129 in perception/detected_object_validation/src/object_lanelet_filter.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Complex Method
ObjectLaneletFilterNode::objectCallback increases in cyclomatic complexity from 9 to 10, 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 perception/detection_by_tracker/src/detection_by_tracker_core.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Overall Code Complexity
The mean cyclomatic complexity increases from 4.92 to 5.08, 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.
Check warning on line 172 in perception/lidar_centerpoint/src/node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ New issue: Complex Method
LidarCenterPointNode::pointCloudCallback has a cyclomatic complexity of 9, 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 warning on line 131 in perception/lidar_centerpoint/src/node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Large Method
LidarCenterPointNode::LidarCenterPointNode increases from 84 to 85 lines of code, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.
Check notice on line 1 in perception/map_based_prediction/src/map_based_prediction_node.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 1768 to 1772, 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 823 in perception/map_based_prediction/src/map_based_prediction_node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Large Method
MapBasedPredictionNode::MapBasedPredictionNode increases from 84 to 85 lines of code, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.
Check notice on line 1 in perception/map_based_prediction/src/map_based_prediction_node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Overall Code Complexity
The mean cyclomatic complexity increases from 6.42 to 6.44, 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.
Check warning on line 1125 in perception/map_based_prediction/src/map_based_prediction_node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
MapBasedPredictionNode::objectsCallback increases in cyclomatic complexity from 36 to 37, 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 perception/multi_object_tracker/src/multi_object_tracker_core.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Overall Code Complexity
The mean cyclomatic complexity increases from 4.12 to 4.18, 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.
Check warning on line 225 in perception/object_merger/src/object_association_merger/node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
ObjectAssociationMergerNode::objectsCallback increases in cyclomatic complexity from 19 to 20, 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 warning on line 423 in planning/behavior_path_planner/src/behavior_path_planner_node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
BehaviorPathPlannerNode::run increases in cyclomatic complexity from 17 to 18, 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 warning on line 177 in planning/behavior_path_planner/src/behavior_path_planner_node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Large Method
BehaviorPathPlannerNode::BehaviorPathPlannerNode increases from 103 to 104 lines of code, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.
Check warning on line 161 in planning/behavior_velocity_planner/src/node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Large Method
BehaviorVelocityPlannerNode::BehaviorVelocityPlannerNode increases from 72 to 73 lines of code, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.
Check notice on line 1 in planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Overall Code Complexity
The mean cyclomatic complexity increases from 4.03 to 4.06, 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.
Check notice on line 1 in planning/obstacle_cruise_planner/src/node.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 1201 to 1204, 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 notice on line 1 in planning/obstacle_cruise_planner/src/node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Overall Code Complexity
The mean cyclomatic complexity increases from 4.37 to 4.40, 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.
Check notice on line 1 in planning/obstacle_stop_planner/src/node.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 1249 to 1256, 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 251 in planning/obstacle_stop_planner/src/node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Large Method
ObstacleStopPlannerNode::ObstacleStopPlannerNode increases from 149 to 150 lines of code, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.
Check notice on line 1 in planning/obstacle_stop_planner/src/node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Overall Code Complexity
The mean cyclomatic complexity increases from 8.67 to 8.76, 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.
Check warning on line 394 in planning/obstacle_stop_planner/src/node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
ObstacleStopPlannerNode::onTrigger increases in cyclomatic complexity from 16 to 18, 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
ObstacleVelocityLimiterNode::onParameter increases in cyclomatic complexity from 31 to 32, 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ New issue: Complex Method
ObstacleVelocityLimiterNode::onTrajectory has a cyclomatic complexity of 9, 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 warning on line 260 in planning/planning_validator/src/planning_validator.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ New issue: Complex Method
PlanningValidator::publishTrajectory has a cyclomatic complexity of 9, 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.