File roboclaw.py has 745 lines of code (exceeds 250 allowed). Consider refactoring.

Open

import logging
import logging.config
import threading
import time
import math

Roboclaw has 73 functions (exceeds 20 allowed). Consider refactoring.

Open

class Roboclaw(object):
    def __init__(self, port, rc_address=128):
        self.__port = port
        self.__rc_address = rc_address

File hokuyo_common.py has 342 lines of code (exceeds 250 allowed). Consider refactoring.

Open

import logging
import logging.config
import threading
import sys
import traceback

File drive_support_logic.py has 338 lines of code (exceeds 250 allowed). Consider refactoring.

Open

import math
import collections
import time

import os

Function compute_new_radius has a Cognitive Complexity of 25 (exceeds 5 allowed). Consider refactoring.

Open

def compute_new_radius(speeds, scan):
    radius = speeds.radius
    if radius is not None and abs(radius) > 0.0:
        for angle, distance in sorted(scan.points, key=lambda (a, d): a, reverse=(radius < 0.0)):
            if 100.0 < distance < 5600.0:

• Read up
  Read up

Function change_radius has a Cognitive Complexity of 20 (exceeds 5 allowed). Consider refactoring.

Open

def change_radius(speeds, radius):
    if radius is None:
        return

    if abs(radius) > 0.0:

• Read up
  Read up

Function __find_temporary_target has a Cognitive Complexity of 20 (exceeds 5 allowed). Consider refactoring.

Open

    def __find_temporary_target(scan, drive_distance, drive_angle, location, current_target):
        best_current_temporary_distance = None
        best_temporary_x, best_temporary_y = None, None
        for angle, distance in sorted(scan.points, key=lambda (a, _): a):
            if distance > drive_distance:

• Read up
  Read up

File hokuyo.py has 278 lines of code (exceeds 250 allowed). Consider refactoring.

Open

import logging
import logging.config
import threading
import sys
import time

DriveToPoint has 22 functions (exceeds 20 allowed). Consider refactoring.

Open

class DriveToPoint(object):
    TIMESTAMP_FIELD = 4

    def __init__(self, driver_proxy, location_proxy, hokuyo_proxy):
        self.__driver_proxy = driver_proxy

File drive_to_point.py has 262 lines of code (exceeds 250 allowed). Consider refactoring.

Open

import logging
import logging.config
import threading
import time
import math

Function avoid has a Cognitive Complexity of 17 (exceeds 5 allowed). Consider refactoring.

Open

def avoid(speeds, scan):
    min_distance_angle, min_distance = get_min_distance(speeds, scan)
    center_angle = get_angle(speeds.speed_left, speeds.speed_right, ROBO_WIDTH)
    if min_distance < HARD_DISTANCE_LIMIT + 0.6 * ROBO_WIDTH:
        if min_distance_angle > 0.0:

• Read up
  Read up

SerialPort has 21 functions (exceeds 20 allowed). Consider refactoring.

Open

class SerialPort(object):
    def __init__(self, serial_port):
        self.__port = serial_port
        self.__checksum = 0

HokuyoController has 21 functions (exceeds 20 allowed). Consider refactoring.

Open

class HokuyoController(MessageHandler):
    def __init__(self, pipe_in, pipe_out, port, _disable_assert=False):
        super(HokuyoController, self).__init__(pipe_in, pipe_out)

        self.__hokuyo = Hokuyo(port, _disable_assert=_disable_assert)

Function find_local_minima_func has a Cognitive Complexity of 13 (exceeds 5 allowed). Consider refactoring.

Open

def find_local_minima_func(points):
    prev_distance = None
    minimum_distance = None
    minimum_angle = None
    minimas = []

• Read up
  Read up

Function __drive_to has a Cognitive Complexity of 13 (exceeds 5 allowed). Consider refactoring.

Open

    def __drive_to(self, target, next_targets_timestamp):
        self.__logger.info('Drive to %s', str(target))

        location = self.__locator.get_absolute_location()

• Read up
  Read up

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

Open

def compute_factor_due_to_distance(scan):
    factor_cosines = 0.0
    factor_gauss = 0.0
    weights_cosines = 0.0
    weights_gauss = 0.0

• Read up
  Read up

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

Open

    def error_monitor_loop(self):
        no_error = True

        while self.__is_active:
            time.sleep(ERROR_MONITOR_INTERVAL / 1000.0)

• Read up
  Read up

Function drive_mixed_with_signed_speed_accel_deccel_position has 9 arguments (exceeds 4 allowed). Consider refactoring.

Open

    def drive_mixed_with_signed_speed_accel_deccel_position(self,

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

Open

    def scanning_loop(self):
        while self.__is_active:
            if self.__multi_scanning_allowed:
                for scan in self.__scanner.get_multiple_scans():
                    self.__set_scan(scan)

• Read up
  Read up

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

Open

    def timeout_monitor_loop(self):
        self.__reset_timeouts()
        while self.__is_active:
            current_time = time.time()

• Read up
  Read up