Function getColor has 34 lines of code (exceeds 25 allowed). Consider refactoring.

Open

    getColor() {
        let bestMatch = {
            difference: Infinity,
            color: null
        };

Function constructor has 33 lines of code (exceeds 25 allowed). Consider refactoring.

Open

    constructor(name, config) {
        super();

        // Check arguments
        if (typeof config.infraredMaxDistance === 'undefined') {

Function moveToCurvilinear has 32 lines of code (exceeds 25 allowed). Consider refactoring.

Open

    moveToCurvilinear(position, direction, radius, tolerance) {
        let motionDriver = this;

        this._direction = direction;
        this._sendCommand(Buffer.from([

Function tryRerouting has a Cognitive Complexity of 11 (exceeds 5 allowed). Consider refactoring.

Open

    tryRerouting() {
        let motionService = this;

        let pfTarget = this._targetQueue.getTargetBack();
        if (pfTarget !== null) {

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Function _onPReceived has a Cognitive Complexity of 11 (exceeds 5 allowed). Consider refactoring.

Open

    _onPReceived(buffer) {
        // Ignore garbage
        let state = buffer.readInt8(0);
        let position = new Point(
            (buffer.readInt8(1) << 8) | (buffer.readInt8(2) & 0xFF),

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Function refreshDataLoop has 30 lines of code (exceeds 25 allowed). Consider refactoring.

Open

    refreshDataLoop() {
        let motionDriver = this;

        this.refreshData(() => {
            let data = motionDriver.getData();

Function stateListener has 30 lines of code (exceeds 25 allowed). Consider refactoring.

Open

            let stateListener = (name, state) => {
                switch (state) {
                    case MotionDriver.STATE_IDLE:
                        Mep.Log.debug(TAG, 'Resolved');
                        clearTimeout(timeout);

Function _onDataReceived has 29 lines of code (exceeds 25 allowed). Consider refactoring.

Open

    _onDataReceived(buffer) {
        if (buffer.length === 3) {
            this.lastReadings = [
                buffer.readUInt8(0),
                buffer.readUInt8(1),

Function _initDriver has 28 lines of code (exceeds 25 allowed). Consider refactoring.

Open

    async _initDriver(driverIdentifier) {
        let moduleConfig = this.config[driverIdentifier];

        if (moduleConfig === undefined) {
            throw Error('Driver ' + driverIdentifier + ' is missing in configuration. ' +

Function isPointInside has a Cognitive Complexity of 10 (exceeds 5 allowed). Consider refactoring.

Open

    isPointInside(point) {
        let minX = this.points[0].getX();
        let maxX = this.points[0].getX();
        let minY = this.points[0].getY();
        let maxY = this.points[0].getY();

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Function constructor has 27 lines of code (exceeds 25 allowed). Consider refactoring.

Open

    constructor(name, config) {
        this.config = Object.assign({
            ejectorSpeed: 150,
            colorTimeout: 6000
        }, config);

Function init has 26 lines of code (exceeds 25 allowed). Consider refactoring.

Open

    async init() {
        let motionDriver = this;

        this.reset();
        this.setPositionAndOrientation(

Function _onObstacleDetected has a Cognitive Complexity of 9 (exceeds 5 allowed). Consider refactoring.

Open

    _onObstacleDetected(params) {
        if (this._targetQueue.getTargetFront() === null) return;

        let hazardAngle = (this.motionDriver.getDirection() === MotionDriver.DIRECTION_FORWARD) ?
            this.config.hazardAngleFront : this.config.hazardAngleBack;

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Function straight has a Cognitive Complexity of 9 (exceeds 5 allowed). Consider refactoring.

Open

    straight(millimeters, params) {
        // Update last moving directiObstacle is too long in front of roboton
        if (this.motionDriver.getDirection() !== MotionDriver.DIRECTION_UNDEFINED) {
            this._lastDirection = this.motionDriver.getDirection();
        }

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Function rgbToHsl has a Cognitive Complexity of 9 (exceeds 5 allowed). Consider refactoring.

Open

    rgbToHsl(r, g, b) {
        r /= 255;
        g /= 255;
        b /= 255;

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Function constructor has a Cognitive Complexity of 9 (exceeds 5 allowed). Consider refactoring.

Open

    constructor(defaultX, defaultY) {
        let table = Mep.Config.get('table');

        // If there are table dependent points
        for (let i = 2; i < arguments.length; i++) {

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Function recommendNextTask has a Cognitive Complexity of 8 (exceeds 5 allowed). Consider refactoring.

Open

    recommendNextTask(tasks) {
        let maxWeightTask = null;

        for (let i = 0; i < tasks.length; i++) {
            // Find the best task

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Function _onDataReceived has a Cognitive Complexity of 8 (exceeds 5 allowed). Consider refactoring.

Open

    _onDataReceived(data) {
        if (data.readUInt8(0) === (this.config.id | 0)) {

            // Length === 1 means there is an error in communication (UART, Servo <--> AVR)
            if (data.length === 2) {

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Function rgbToHsv has a Cognitive Complexity of 8 (exceeds 5 allowed). Consider refactoring.

Open

    rgbToHsv(r, g, b) {
        r /= 255;
        g /= 255;
        b /= 255;

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Function _onDataReceived has a Cognitive Complexity of 8 (exceeds 5 allowed). Consider refactoring.

Open

    _onDataReceived(buffer) {
        if (buffer.length === 3) {
            this.lastReadings = [
                buffer.readUInt8(0),
                buffer.readUInt8(1),

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