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fix(goal_planner): fix freespace planning chattering #8981

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Sep 30, 2024
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fix(goal_planner): fix freespace planning chattering #8981

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7 changes: 4 additions & 3 deletions ...avior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_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 1980 to 1981, 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/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Overall Code Complexity 

The mean cyclomatic complexity increases from 5.67 to 5.68, 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 @@ -1329,9 +1329,12 @@
return getPreviousModuleOutput();
}

const bool is_freespace =
thread_safe_data_.getPullOverPlannerType() == PullOverPlannerType::FREESPACE;
if (
path_decision_controller_.get_current_state().state ==
PathDecisionState::DecisionKind::NOT_DECIDED &&
!is_freespace &&

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Complex Conditional 

GoalPlannerModule::planPullOverAsOutput 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.
needPathUpdate(
planner_data_->self_odometry->pose.pose, 1.0 /*path_update_duration*/, *parameters_)) {
// if the final path is not decided and enough time has passed since last path update,
Expand Down Expand Up @@ -1370,9 +1373,7 @@
setOutput(context_data, output);

// return to lane parking if it is possible
if (
thread_safe_data_.getPullOverPlannerType() == PullOverPlannerType::FREESPACE &&
canReturnToLaneParking(context_data)) {
if (is_freespace && canReturnToLaneParking(context_data)) {

Check notice on line 1376 in planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Complex Method 

GoalPlannerModule::planPullOverAsOutput 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.
thread_safe_data_.set_pull_over_path(thread_safe_data_.get_lane_parking_pull_over_path());
}

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