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fix(avoidance): fix avoidance exit condition #5592

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Nov 16, 2023
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fix(avoidance): fix avoidance exit condition #5592

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13 changes: 13 additions & 0 deletions planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2021 Tier IV, Inc.

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Lines of Code in a Single File 

The lines of code increases from 2203 to 2214, 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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ℹ Getting worse: Overall Code Complexity 

The mean cyclomatic complexity increases from 6.14 to 6.19, 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 @@ -222,6 +222,19 @@
const bool has_base_offset =
std::abs(path_shifter_.getBaseOffset()) > parameters_->lateral_avoid_check_threshold;

// If the vehicle is on the shift line, keep RUNNING.
{
const size_t idx = planner_data_->findEgoIndex(path_shifter_.getReferencePath().points);

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planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp#L227 

Added line #L227 was not covered by tests
const auto within = [](const auto & line, const size_t idx) {
return line.start_idx < idx && idx < line.end_idx;
};
for (const auto & shift_line : path_shifter_.getShiftLines()) {
if (within(shift_line, idx)) {
return false;
}
}
}

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❌ Getting worse: Complex Method 

AvoidanceModule::canTransitSuccessState increases in cyclomatic complexity from 12 to 15, 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.

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ℹ Getting worse: Bumpy Road Ahead 

AvoidanceModule::canTransitSuccessState increases from 2 to 3 logical blocks with deeply nested code, threshold is one single block per function. The Bumpy Road code smell is a function that contains multiple chunks of nested conditional logic. The deeper the nesting and the more bumps, the lower the code health.
// Nothing to do. -> EXIT.
if (!has_avoidance_target) {
if (!has_shift_point && !has_base_offset) {
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