feat(autoware_lanelet2_extension): replace remaining lanelet2_extension utilities functions - bpp packages #12085
CodeScene Delta Analysis / CodeScene Code Health Review (main)
failed
Feb 20, 2026 in 1m 8s
CodeScene PR Check
Quality Gate Failed
Gates Failed
(4 hotspots with Complex Method, Large Method)
(11 files with Complex Method, Large Method)
Gates Passed
See analysis details in CodeScene
Reason for failure
| Prevent hotspot decline | Violations | Code Health Impact | |
|---|---|---|---|
| start_planner_module.cpp | 2 rules in this hotspot | 4.40 → 4.38 | Suppress |
| goal_planner_module.cpp | 1 rule in this hotspot | 2.85 → 2.84 | Suppress |
| scene.cpp | 2 rules in this hotspot | 5.01 → 5.00 | Suppress |
| utils.cpp | 1 rule in this hotspot | 3.89 → 3.88 | Suppress |
| Enforce advisory code health rules | Violations | Code Health Impact | |
|---|---|---|---|
| static_drivable_area.cpp | 1 advisory rule | 2.86 → 2.81 | Suppress |
| goal_searcher.cpp | 1 advisory rule | 7.53 → 7.51 | Suppress |
| start_planner_module.cpp | 2 advisory rules | 4.40 → 4.38 | Suppress |
| goal_planner_module.cpp | 1 advisory rule | 2.85 → 2.84 | Suppress |
| shift_pull_over.cpp | 1 advisory rule | 9.20 → 9.19 | Suppress |
| scene.cpp | 2 advisory rules | 5.01 → 5.00 | Suppress |
| bezier_pull_over.cpp | 1 advisory rule | 8.79 → 8.78 | Suppress |
| utils.cpp | 1 advisory rule | 3.89 → 3.88 | Suppress |
| sampling_planner_module.cpp | 1 advisory rule | 5.87 → 5.86 | Suppress |
| plot_map_case1.cpp | 1 advisory rule | 7.13 → 7.13 | Suppress |
| plot_map_case2.cpp | 1 advisory rule | 6.92 → 6.92 | Suppress |
Quality Gate Profile: Clean Code Collective
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Details
🚩 Declining Code Health (highest to lowest):
- Complex Method bezier_pull_over.cpp: BezierPullOver::generateBezierPath
- Complex Method sampling_planner_module.cpp: SamplingPlannerModule::plan
- Complex Method plot_map_case2.cpp: selectPullOverPaths
- Complex Method plot_map_case1.cpp: selectPullOverPaths
- Complex Method shift_pull_over.cpp: ShiftPullOver::generatePullOverPath
- Complex Method goal_searcher.cpp: GoalSearcher::search
- Complex Method goal_planner_module.cpp: GoalPlannerModule::generateStopPath 🔥
- Large Method start_planner_module.cpp: StartPlannerModule::plan 🔥
- Complex Method utils.cpp: getSignedDistanceFromBoundary 🔥
- Large Method scene.cpp: NormalLaneChange::update_transient_data 🔥
- Complex Method goal_planner_module.cpp: GoalPlannerModule::selectPullOverPath 🔥
- Complex Method scene.cpp: NormalLaneChange::get_path_using_path_shifter 🔥
- Complex Method goal_planner_module.cpp: GoalPlannerModule::isSafePath 🔥
- Complex Method goal_planner_module.cpp: GoalPlannerModule::calcTurnSignalInfo 🔥
- Complex Method start_planner_module.cpp: StartPlannerModule::planWaitingApproval 🔥
- Complex Method static_drivable_area.cpp: expandLanelets
- Complex Method scene.cpp: NormalLaneChange::calcAbortPath 🔥
- Complex Method scene.cpp: NormalLaneChange::compute_terminal_lane_change_path 🔥
Annotations
codescene-delta-analysis / CodeScene Code Health Review (main)
❌ Getting worse: Complex Method
getSignedDistanceFromBoundary increases in cyclomatic complexity from 16 to 17, 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.
codescene-delta-analysis / CodeScene Code Health Review (main)
❌ Getting worse: Complex Method
NormalLaneChange::get_path_using_path_shifter already has high cyclomatic complexity, and now it increases in Lines of Code from 95 to 96. 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.
codescene-delta-analysis / CodeScene Code Health Review (main)
❌ Getting worse: Complex Method
NormalLaneChange::calcAbortPath already has high cyclomatic complexity, and now it increases in Lines of Code from 113 to 114. 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.
codescene-delta-analysis / CodeScene Code Health Review (main)
❌ Getting worse: Complex Method
NormalLaneChange::compute_terminal_lane_change_path already has high cyclomatic complexity, and now it increases in Lines of Code from 73 to 74. 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.
codescene-delta-analysis / CodeScene Code Health Review (main)
❌ Getting worse: Large Method
NormalLaneChange::update_transient_data increases from 76 to 77 lines of code, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.
codescene-delta-analysis / CodeScene Code Health Review (main)
❌ Getting worse: Complex Method
SamplingPlannerModule::plan already has high cyclomatic complexity, and now it increases in Lines of Code from 247 to 249. 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.
codescene-delta-analysis / CodeScene Code Health Review (main)
❌ Getting worse: Complex Method
selectPullOverPaths already has high cyclomatic complexity, and now it increases in Lines of Code from 121 to 122. 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.
codescene-delta-analysis / CodeScene Code Health Review (main)
❌ Getting worse: Complex Method
selectPullOverPaths already has high cyclomatic complexity, and now it increases in Lines of Code from 130 to 131. 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.
codescene-delta-analysis / CodeScene Code Health Review (main)
❌ Getting worse: Complex Method
GoalPlannerModule::generateStopPath already has high cyclomatic complexity, and now it increases in Lines of Code from 95 to 98. 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.
codescene-delta-analysis / CodeScene Code Health Review (main)
❌ Getting worse: Complex Method
GoalPlannerModule::selectPullOverPath already has high cyclomatic complexity, and now it increases in Lines of Code from 89 to 90. 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.
codescene-delta-analysis / CodeScene Code Health Review (main)
❌ Getting worse: Complex Method
GoalPlannerModule::isSafePath increases in cyclomatic complexity from 11 to 12, 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.
codescene-delta-analysis / CodeScene Code Health Review (main)
❌ Getting worse: Complex Method
GoalPlannerModule::calcTurnSignalInfo already has high cyclomatic complexity, and now it increases in Lines of Code from 70 to 71. 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.
codescene-delta-analysis / CodeScene Code Health Review (main)
❌ Getting worse: Complex Method
GoalSearcher::search increases in cyclomatic complexity from 18 to 19, 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.
codescene-delta-analysis / CodeScene Code Health Review (main)
❌ Getting worse: Complex Method
BezierPullOver::generateBezierPath already has high cyclomatic complexity, and now it increases in Lines of Code from 199 to 201. 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.
codescene-delta-analysis / CodeScene Code Health Review (main)
❌ Getting worse: Complex Method
ShiftPullOver::generatePullOverPath already has high cyclomatic complexity, and now it increases in Lines of Code from 146 to 148. 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.
codescene-delta-analysis / CodeScene Code Health Review (main)
❌ Getting worse: Complex Method
StartPlannerModule::planWaitingApproval already has high cyclomatic complexity, and now it increases in Lines of Code from 110 to 114. 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.
codescene-delta-analysis / CodeScene Code Health Review (main)
❌ Getting worse: Large Method
StartPlannerModule::plan increases from 84 to 88 lines of code, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.
codescene-delta-analysis / CodeScene Code Health Review (main)
❌ New issue: Complex Method
expandLanelets has a cyclomatic complexity of 9, 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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