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fix(autoware_behavior_velocity_intersection_module): fix bugprone-branch-clone #9702

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merged 2 commits into from
Dec 27, 2024
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fix(autoware_behavior_velocity_intersection_module): fix bugprone-branch-clone #9702

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4d39ff1
fix: bugprone-error
kobayu858 Dec 20, 2024
ab99f20
Merge branch 'main' into clang-tidy-b59
kobayu858 Dec 27, 2024
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11 changes: 2 additions & 9 deletions ...elocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2020 Tier IV, Inc.

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Lines of Code in a Single File 

The lines of code decreases from 1111 to 1104, 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.

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Overall Code Complexity 

The mean cyclomatic complexity decreases from 4.83 to 4.80, 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.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -354,9 +354,7 @@
(std::fabs(dist_stopline) < planner_param_.common.stopline_overshoot_margin);
const bool over_stopline = (dist_stopline < 0.0);
const bool is_stopped_duration = planner_data_->isVehicleStopped(duration);
if (over_stopline) {
state_machine.setState(StateMachine::State::GO);
} else if (is_stopped_duration && approached_dist_stopline) {
if (over_stopline || (is_stopped_duration && approached_dist_stopline)) {

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Complex Conditional 

IntersectionModule::modifyPathVelocityDetail has 1 complex conditionals with 2 branches, threshold = 2. A complex conditional is an expression inside a branch (e.g. if, for, while) which consists of multiple, logical operators such as AND/OR. The more logical operators in an expression, the more severe the code smell.
state_machine.setState(StateMachine::State::GO);
}
return state_machine.getState() == StateMachine::State::GO;
Expand All @@ -367,12 +365,7 @@
(std::fabs(dist_stopline) < planner_param_.common.stopline_overshoot_margin);
const bool over_stopline = (dist_stopline < -planner_param_.common.stopline_overshoot_margin);
const bool is_stopped = planner_data_->isVehicleStopped(duration);
if (over_stopline) {
return true;
} else if (is_stopped && approached_dist_stopline) {
return true;
}
return false;
return over_stopline || (is_stopped && approached_dist_stopline);

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Complex Method 

IntersectionModule::modifyPathVelocityDetail decreases in cyclomatic complexity from 50 to 49, 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.
};

const auto occlusion_wo_tl_pass_judge_line_idx =
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