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feat(autoware_pointcloud_preprocessor): reuse collectors to reduce creation of collector and timer #10074

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feat: initialize required number of collectors when the node start

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feat(autoware_pointcloud_preprocessor): reuse collectors to reduce creation of collector and timer #10074

feat: initialize required number of collectors when the node start
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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main) failed Feb 7, 2025 in 59s

CodeScene PR Check

❌ Code Health Quality Gates: FAILED

Change in average Code Health of affected files: -0.13 (7.96 -> 7.83)

  • Declining Code Health: 4 findings(s) 🚩

View detailed results in CodeScene

Details

🚩 Declining Code Health (highest to lowest):

  • Complex Method concatenate_and_time_sync_node.cpp: PointCloudConcatenateDataSynchronizerComponent::cloud_callback
  • Complex Method concatenate_and_time_sync_node.cpp: PointCloudConcatenateDataSynchronizerComponent::manage_collector_list
  • Bumpy Road Ahead concatenate_and_time_sync_node.cpp: PointCloudConcatenateDataSynchronizerComponent::cloud_callback
  • Bumpy Road Ahead concatenate_and_time_sync_node.cpp: PointCloudConcatenateDataSynchronizerComponent::manage_collector_list

Annotations

Check warning on line 273 in sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_node.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Complex Method 

PointCloudConcatenateDataSynchronizerComponent::cloud_callback increases in cyclomatic complexity from 9 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.

Check warning on line 419 in sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_node.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Complex Method 

PointCloudConcatenateDataSynchronizerComponent::manage_collector_list has a cyclomatic complexity of 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.

Check warning on line 273 in sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_node.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Bumpy Road Ahead 

PointCloudConcatenateDataSynchronizerComponent::cloud_callback increases from 2 to 3 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.

Check warning on line 419 in sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_node.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Bumpy Road Ahead 

PointCloudConcatenateDataSynchronizerComponent::manage_collector_list has 2 blocks with nested conditional logic. Any nesting of 2 or deeper is considered. Threshold is one single, nested 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.

Check notice on line 1 in sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_node.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Overall Code Complexity 

The mean cyclomatic complexity increases from 5.73 to 6.42, 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.

Check notice on line 419 in sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_node.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

ℹ New issue: Deep, Nested Complexity 

PointCloudConcatenateDataSynchronizerComponent::manage_collector_list has a nested complexity depth of 4, threshold = 4. This function contains deeply nested logic such as if statements and/or loops. The deeper the nesting, the lower the code health.
View more details on CodeScene Delta Analysis