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feat(autonomous_emergency_braking): enable aeb with only one req path #8569

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merged 4 commits into from
Aug 23, 2024
Merged

feat(autonomous_emergency_braking): enable aeb with only one req path #8569

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bf40784
make it so AEB works with only one req path type (imu or MPC)
danielsanchezaran Aug 22, 2024
a1e1033
fix missing mpc path return
danielsanchezaran Aug 22, 2024
19caa18
add check
danielsanchezaran Aug 22, 2024
5da5972
modify no path msg
danielsanchezaran Aug 22, 2024
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29 changes: 19 additions & 10 deletions control/autoware_autonomous_emergency_braking/src/node.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2022 TIER IV, Inc.

Check notice on line 1 in control/autoware_autonomous_emergency_braking/src/node.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 5.58 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 @@ -348,21 +348,30 @@
return missing("object detection method (pointcloud or predicted objects)");
}

const auto imu_ptr = sub_imu_.takeData();
if (use_imu_path_) {
const bool has_imu_path = std::invoke([&]() {
if (!use_imu_path_) return false;
const auto imu_ptr = sub_imu_.takeData();
if (!imu_ptr) {
return missing("imu message");
}
// imu_ptr is valid
onImu(imu_ptr);
}
if (use_imu_path_ && !angular_velocity_ptr_) {
return missing("imu");
}
return (!angular_velocity_ptr_) ? missing("imu") : true;
});

predicted_traj_ptr_ = sub_predicted_traj_.takeData();
if (use_predicted_trajectory_ && !predicted_traj_ptr_) {
return missing("control predicted trajectory");
const bool has_predicted_path = std::invoke([&]() {
if (!use_predicted_trajectory_) {
return false;
}
predicted_traj_ptr_ = sub_predicted_traj_.takeData();
return (!predicted_traj_ptr_) ? missing("control predicted trajectory") : true;
});

if (!has_imu_path && !has_predicted_path) {
RCLCPP_INFO_SKIPFIRST_THROTTLE(
get_logger(), *get_clock(), 5000,
"[AEB] At least one path (IMU or predicted trajectory) is required for operation");
return false;

Check warning on line 374 in control/autoware_autonomous_emergency_braking/src/node.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Complex Method 

AEB::fetchLatestData increases in cyclomatic complexity from 17 to 18, 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.

Check notice on line 374 in control/autoware_autonomous_emergency_braking/src/node.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Bumpy Road Ahead 

AEB::fetchLatestData decreases from 3 to 2 logical blocks with deeply nested code, threshold is one single block per function. The Bumpy Road code smell is a function that contains multiple chunks of nested conditional logic. The deeper the nesting and the more bumps, the lower the code health.
}

autoware_state_ = sub_autoware_state_.takeData();
Expand Down Expand Up @@ -482,7 +491,7 @@

// step3. make function to check collision with ego path created with sensor data
const auto has_collision_ego = [&](pcl::PointCloud<pcl::PointXYZ>::Ptr filtered_objects) -> bool {
if (!use_imu_path_) return false;
if (!use_imu_path_ || !angular_velocity_ptr_) return false;

Check warning on line 494 in control/autoware_autonomous_emergency_braking/src/node.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Complex Method 

AEB::checkCollision increases in cyclomatic complexity from 19 to 20, 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.
const double current_w = angular_velocity_ptr_->z;
constexpr colorTuple debug_color = {0.0 / 256.0, 148.0 / 256.0, 205.0 / 256.0, 0.999};
const std::string ns = "ego";
Expand Down
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