fix(clang-tidy): re-enable bugprone-assignment-in-if-condition

[vish0012]

Description

Re-enables bugprone-assignment-in-if-condition in .clang-tidy-ci.

The check was suppressed in #12431 with 45 errors across two files. This PR addresses both affected packages from the issue list.

Refs #12450

Approach

Both flagged files are derived from upstream third-party code where the assignment-in-condition pattern is intentional. Rather than refactoring 45 sites and diverging from the upstream reference implementations, this PR adds per-line // NOLINTNEXTLINE(bugprone-assignment-in-if-condition) markers.

I used NOLINTNEXTLINE instead of NOLINTBEGIN / NOLINTEND because the Autoware pre-commit/cpplint pipeline does not accept the block syntax.

planning/autoware_freespace_planning_algorithms/src/reeds_shepp.cpp — 39 sites

This file is derived from OMPL's Reeds-Shepp implementation. The assignment-in-condition pattern is intentional: each path family computes a candidate path length L and compares it against L_min in the same expression.

Example pattern:

if (LpSpLp(x, y, phi, t, u, v) && L_min > (L = std::abs(t) + std::abs(u) + std::abs(v))) {

These patterns are repeated across path families with time-flip, reflect, and time-flip+reflect variants. Refactoring all 39 sites would make the file diverge from the OMPL reference and make future cross-checking harder.

perception/autoware_bytetrack/lib/src/lapjv.cpp — 6 sites

This file is part of the LAPJV / ByteTrack code. All 6 reported sites are expansions of the NEW(x, t, n) macro defined in lapjv.h.

The macro uses the canonical malloc-or-bail idiom:

if ((x = malloc(...)) == 0) return -1;

The assignment is intentional here. The NOLINTNEXTLINE comments are placed at the call sites in lapjv.cpp because these are the locations reported by clang-tidy.

How to reproduce

From the colcon workspace root:

cd ~/autoware_clang_tidy
source /opt/ros/humble/setup.bash

mkdir -p /tmp/clang-tidy-result

colcon build --packages-up-to autoware_freespace_planning_algorithms autoware_bytetrack \
  --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=1

for PKG in autoware_freespace_planning_algorithms autoware_bytetrack; do
  echo "=== ${PKG} ==="
  run-clang-tidy -p build/ \
    -config="$(cat src/autoware_universe/.clang-tidy-ci)" \
    -header-filter=".*${PKG}.*" \
    -j $(nproc) "${PKG}" \
    > /tmp/clang-tidy-result/${PKG}.log 2>&1

  echo "assignment-in-if errors: $(grep -E 'bugprone-assignment-in-if-condition' /tmp/clang-tidy-result/${PKG}.log | grep 'error:' | wc -l)"
done

Verification

Reproduced the original errors locally with clang-tidy-18, then confirmed both affected packages return 0 errors after the fix.

Result:

=== autoware_freespace_planning_algorithms ===
assignment-in-if errors: 0
=== autoware_bytetrack ===
assignment-in-if errors: 0

Notes

No local-only include-path workarounds are included in this PR. The only .clang-tidy-ci change is removing the suppression line:

-  -bugprone-assignment-in-if-condition,

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[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 33.13%. Comparing base (b1df772) to head (95ab20f).

Additional details and impacted files

@@             Coverage Diff             @@
##             main   #12552       +/-   ##
===========================================
+ Coverage   18.65%   33.13%   +14.47%     
===========================================
  Files        1917      175     -1742     
  Lines      131368    23658   -107710     
  Branches    44506    12306    -32200     
===========================================
- Hits        24501     7838    -16663     
+ Misses      86756     8206    -78550     
+ Partials    20111     7614    -12497     

Flag	Coverage Δ
daily	?
full-suite	33.13% <ø> (+14.48%)	⬆️

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