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fix(goal_planner): fix waiting approval path of backward parking #10015

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fix(goal_planner): fix waiting approval path of backward parking #10015

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16 changes: 12 additions & 4 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 1866 to 1872, 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)

ℹ Getting worse: Overall Code Complexity 

The mean cyclomatic complexity increases from 6.52 to 6.56, 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 @@ -1650,12 +1650,20 @@
return PathWithLaneId{};
}

// extend previous module path to generate reference path for stop path
// Generate reference_path to extend the previous path.
// If pull_over_path is ARC_BACKWARD, generate path to the start_pose of the pull_over_path,
// otherwise, generate path to the goal_pose.
const auto & pull_over_path_opt = context_data.pull_over_path_opt;

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planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp#L1656 

Added line #L1656 was not covered by tests
const auto reference_path = std::invoke([&]() -> PathWithLaneId {
const auto s_current = lanelet::utils::getArcCoordinates(current_lanes, current_pose).length;
const double s_start = std::max(0.0, s_current - common_parameters.backward_path_length);
const bool is_arc_backward =
pull_over_path_opt.has_value() &&
pull_over_path_opt.value().type() == PullOverPlannerType::ARC_BACKWARD;
const Pose path_end_pose =
is_arc_backward ? pull_over_path_opt.value().start_pose() : route_handler->getGoalPose();

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planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp#L1664 

Added line #L1664 was not covered by tests
const double s_end = std::clamp(
lanelet::utils::getArcCoordinates(current_lanes, route_handler->getGoalPose()).length,
lanelet::utils::getArcCoordinates(current_lanes, path_end_pose).length,

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planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp#L1666 

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s_current + std::numeric_limits<double>::epsilon(),
s_current + common_parameters.forward_path_length);
return route_handler->getCenterLinePath(current_lanes, s_start, s_end, true);
Expand Down Expand Up @@ -1685,8 +1693,8 @@
// difference between the outer and inner sides)
// 4. feasible stop
const auto stop_pose_opt = std::invoke([&]() -> std::optional<Pose> {
if (context_data.pull_over_path_opt)
return std::make_optional<Pose>(context_data.pull_over_path_opt.value().start_pose());
if (pull_over_path_opt)
return std::make_optional<Pose>(pull_over_path_opt.value().start_pose());

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Complex Method 

GoalPlannerModule::generateStopPath increases in cyclomatic complexity from 13 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.
if (context_data.lane_parking_response.closest_start_pose)
return context_data.lane_parking_response.closest_start_pose;
return decel_pose;
Expand Down
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