feat(pid_longitudinal_controller): use Integrated error when vehicle is stopped #5549
CodeScene PR Check
❌ Code Health Quality Gates: FAILED
- Declining Code Health: 3 findings(s) 🚩
- Improving Code Health: 0 findings(s) ✅
- Affected Hotspots: 0 files(s) 🔥
Recommended Review Level: Detailed -- Inspect the code that degrades in code health.
View detailed results in CodeScene
Details
🚩 Declining Code Health (highest to lowest):
- Complex Method pid_longitudinal_controller.cpp: PidLongitudinalController::updateControlState
- Large Method pid_longitudinal_controller.cpp: diagnostic_updater_
- Large Method pid_longitudinal_controller.cpp: PidLongitudinalController::paramCallback
Annotations
Check warning on line 569 in control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
PidLongitudinalController::updateControlState increases in cyclomatic complexity from 39 to 41, 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 110 in control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Large Method
diagnostic_updater_ increases from 116 to 120 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.
Check warning on line 292 in control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Large Method
PidLongitudinalController::paramCallback increases from 109 to 110 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.
Check notice on line 1 in control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Overall Code Complexity
The mean cyclomatic complexity increases from 4.19 to 4.29, 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.