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fix(autoware_crosswalk_traffic_light_estimator): add process that guard access to empty elements #10281

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fix(autoware_crosswalk_traffic_light_estimator): add process that guard access to empty elements #10281

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8ae2419
fix(autoware_crosswalk_traffic_light_estimator) : add process that gu…
k-hazama-esol Mar 14, 2025
8d208e7
fix for linter
k-hazama-esol Mar 17, 2025
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12 changes: 10 additions & 2 deletions perception/autoware_crosswalk_traffic_light_estimator/src/node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -303,7 +303,11 @@
output_traffic_signal_element.color = color;
output_traffic_signal_element.shape = TrafficSignalElement::CIRCLE;
output_traffic_signal_element.confidence = 1.0;
output.traffic_light_groups[idx].elements[0] = output_traffic_signal_element;
if (output.traffic_light_groups[idx].elements.empty()) {
output.traffic_light_groups[idx].elements.push_back(output_traffic_signal_element);

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perception/autoware_crosswalk_traffic_light_estimator/src/node.cpp#L307 

Added line #L307 was not covered by tests
} else {
output.traffic_light_groups[idx].elements[0] = output_traffic_signal_element;

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}

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Deep, Nested Complexity 

CrosswalkTrafficLightEstimatorNode::setCrosswalkTrafficSignal 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.
continue;
}
updateFlashingState(signal); // check if it is flashing
Expand All @@ -325,6 +329,10 @@
bool CrosswalkTrafficLightEstimatorNode::isInvalidDetectionStatus(
const TrafficSignal & signal) const
{
// invalid if elements is empty
if (signal.elements.empty()) {
return true;
}
// check occlusion, backlight(shape is unknown) and no detection(shape is circle)
if (
signal.elements.front().color == TrafficSignalElement::UNKNOWN &&
Expand All @@ -347,7 +355,7 @@

// flashing green
if (
signal.elements.front().color == TrafficSignalElement::UNKNOWN &&
!signal.elements.empty() && signal.elements.front().color == TrafficSignalElement::UNKNOWN &&

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Complex Conditional 

CrosswalkTrafficLightEstimatorNode::updateFlashingState increases from 1 complex conditionals with 2 branches to 1 complex conditionals with 3 branches, threshold = 2. A complex conditional is an expression inside a branch (e.g. if, for, while) which consists of multiple, logical operators such as AND/OR. The more logical operators in an expression, the more severe the code smell.

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perception/autoware_crosswalk_traffic_light_estimator/src/node.cpp#L358 

Added line #L358 was not covered by tests
signal.elements.front().confidence != 0 && // not due to occlusion
current_color_state_.at(id) != TrafficSignalElement::UNKNOWN) {
is_flashing_.at(id) = true;
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