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fix(autoware_route_handler): fix bugprone-exception-escape #9738

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merged 2 commits into from
Dec 24, 2024
Merged

fix(autoware_route_handler): fix bugprone-exception-escape #9738

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0f708e9
fix: bugprone-error
kobayu858 Dec 23, 2024
f2def94
fix: add include
kobayu858 Dec 24, 2024
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96 changes: 56 additions & 40 deletions planning/autoware_route_handler/src/route_handler.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2021-2024 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 1723 to 1739, 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 4.82 to 4.86, 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 @@ -1163,32 +1163,40 @@
const bool & invert_opposite) const noexcept
{
lanelet::ConstLanelets linestring_shared;
auto lanelet_at_left = getLeftLanelet(lane);
auto lanelet_at_left_opposite = getLeftOppositeLanelets(lane);
while (lanelet_at_left) {
linestring_shared.push_back(lanelet_at_left.value());
lanelet_at_left = getLeftLanelet(lanelet_at_left.value());
if (!lanelet_at_left) {
break;
try {
auto lanelet_at_left = getLeftLanelet(lane);
auto lanelet_at_left_opposite = getLeftOppositeLanelets(lane);
while (lanelet_at_left) {
linestring_shared.push_back(lanelet_at_left.value());
lanelet_at_left = getLeftLanelet(lanelet_at_left.value());
if (!lanelet_at_left) {
break;
}
lanelet_at_left_opposite = getLeftOppositeLanelets(lanelet_at_left.value());
}
lanelet_at_left_opposite = getLeftOppositeLanelets(lanelet_at_left.value());
}

if (!lanelet_at_left_opposite.empty() && include_opposite) {
if (invert_opposite) {
linestring_shared.push_back(lanelet_at_left_opposite.front().invert());
} else {
linestring_shared.push_back(lanelet_at_left_opposite.front());
}
auto lanelet_at_right = getRightLanelet(lanelet_at_left_opposite.front());
while (lanelet_at_right) {
if (!lanelet_at_left_opposite.empty() && include_opposite) {
if (invert_opposite) {
linestring_shared.push_back(lanelet_at_right.value().invert());
linestring_shared.push_back(lanelet_at_left_opposite.front().invert());
} else {
linestring_shared.push_back(lanelet_at_right.value());
linestring_shared.push_back(lanelet_at_left_opposite.front());
}
auto lanelet_at_right = getRightLanelet(lanelet_at_left_opposite.front());
while (lanelet_at_right) {
if (invert_opposite) {
linestring_shared.push_back(lanelet_at_right.value().invert());
} else {
linestring_shared.push_back(lanelet_at_right.value());
}
lanelet_at_right = getRightLanelet(lanelet_at_right.value());
}
lanelet_at_right = getRightLanelet(lanelet_at_right.value());
}
} catch (const std::exception & e) {
std::cerr << "Exception in getAllLeftSharedLinestringLanelets: " << e.what() << std::endl;
return {};
} catch (...) {

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planning/autoware_route_handler/src/route_handler.cpp#L1195-L1197 

Added lines #L1195 - L1197 were not covered by tests
std::cerr << "Unknown exception in getAllLeftSharedLinestringLanelets" << std::endl;
return {};

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Complex Method 

RouteHandler::getAllLeftSharedLinestringLanelets has a cyclomatic complexity of 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.

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planning/autoware_route_handler/src/route_handler.cpp#L1199 

Added line #L1199 was not covered by tests
}
return linestring_shared;
}
Expand All @@ -1198,32 +1206,40 @@
const bool & invert_opposite) const noexcept
{
lanelet::ConstLanelets linestring_shared;
auto lanelet_at_right = getRightLanelet(lane);
auto lanelet_at_right_opposite = getRightOppositeLanelets(lane);
while (lanelet_at_right) {
linestring_shared.push_back(lanelet_at_right.value());
lanelet_at_right = getRightLanelet(lanelet_at_right.value());
if (!lanelet_at_right) {
break;
try {
auto lanelet_at_right = getRightLanelet(lane);
auto lanelet_at_right_opposite = getRightOppositeLanelets(lane);
while (lanelet_at_right) {
linestring_shared.push_back(lanelet_at_right.value());
lanelet_at_right = getRightLanelet(lanelet_at_right.value());
if (!lanelet_at_right) {
break;
}
lanelet_at_right_opposite = getRightOppositeLanelets(lanelet_at_right.value());
}
lanelet_at_right_opposite = getRightOppositeLanelets(lanelet_at_right.value());
}

if (!lanelet_at_right_opposite.empty() && include_opposite) {
if (invert_opposite) {
linestring_shared.push_back(lanelet_at_right_opposite.front().invert());
} else {
linestring_shared.push_back(lanelet_at_right_opposite.front());
}
auto lanelet_at_left = getLeftLanelet(lanelet_at_right_opposite.front());
while (lanelet_at_left) {
if (!lanelet_at_right_opposite.empty() && include_opposite) {
if (invert_opposite) {
linestring_shared.push_back(lanelet_at_left.value().invert());
linestring_shared.push_back(lanelet_at_right_opposite.front().invert());
} else {
linestring_shared.push_back(lanelet_at_left.value());
linestring_shared.push_back(lanelet_at_right_opposite.front());
}
auto lanelet_at_left = getLeftLanelet(lanelet_at_right_opposite.front());
while (lanelet_at_left) {
if (invert_opposite) {
linestring_shared.push_back(lanelet_at_left.value().invert());
} else {
linestring_shared.push_back(lanelet_at_left.value());
}
lanelet_at_left = getLeftLanelet(lanelet_at_left.value());
}
lanelet_at_left = getLeftLanelet(lanelet_at_left.value());
}
} catch (const std::exception & e) {
std::cerr << "Exception in getAllRightSharedLinestringLanelets: " << e.what() << std::endl;
return {};
} catch (...) {

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planning/autoware_route_handler/src/route_handler.cpp#L1238-L1240 

Added lines #L1238 - L1240 were not covered by tests
std::cerr << "Unknown exception in getAllRightSharedLinestringLanelets" << std::endl;
return {};

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Complex Method 

RouteHandler::getAllRightSharedLinestringLanelets has a cyclomatic complexity of 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.

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planning/autoware_route_handler/src/route_handler.cpp#L1242 

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}
return linestring_shared;
}
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