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src/amberdriver/hokuyo/hokuyo.py

Summary

Maintainability
D
2 days
Test Coverage

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
Severity: Minor
Found in src/amberdriver/hokuyo/hokuyo.py - About 2 hrs to fix

    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)
    Severity: Minor
    Found in src/amberdriver/hokuyo/hokuyo.py - About 1 hr to fix

    Cognitive Complexity

    Cognitive Complexity is a measure of how difficult a unit of code is to intuitively understand. Unlike Cyclomatic Complexity, which determines how difficult your code will be to test, Cognitive Complexity tells you how difficult your code will be to read and comprehend.

    A method's cognitive complexity is based on a few simple rules:

    • Code is not considered more complex when it uses shorthand that the language provides for collapsing multiple statements into one
    • Code is considered more complex for each "break in the linear flow of the code"
    • Code is considered more complex when "flow breaking structures are nested"

    Further reading

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

        def __long_command(self, cmd, lines, check_response=True):
        result = ''
        self.__port_lock.acquire()
        try:
            result += self.__execute_command(cmd)
    Severity: Minor
    Found in src/amberdriver/hokuyo/hokuyo.py - About 55 mins to fix

    Cognitive Complexity

    Cognitive Complexity is a measure of how difficult a unit of code is to intuitively understand. Unlike Cyclomatic Complexity, which determines how difficult your code will be to test, Cognitive Complexity tells you how difficult your code will be to read and comprehend.

    A method's cognitive complexity is based on a few simple rules:

    • Code is not considered more complex when it uses shorthand that the language provides for collapsing multiple statements into one
    • Code is considered more complex for each "break in the linear flow of the code"
    • Code is considered more complex when "flow breaking structures are nested"

    Further reading

    Function get_multiple_scans has 5 arguments (exceeds 4 allowed). Consider refactoring.
    Open

        def get_multiple_scans(self, start_step=START_STEP, stop_step=STOP_STEP, cluster_count=1,
    Severity: Minor
    Found in src/amberdriver/hokuyo/hokuyo.py - About 35 mins to fix

      Function __offset has a Cognitive Complexity of 7 (exceeds 5 allowed). Consider refactoring.
      Open

          def __offset(self):
        count = 3
        result = ''

        self.__port_lock.acquire()
      Severity: Minor
      Found in src/amberdriver/hokuyo/hokuyo.py - About 35 mins to fix

      Cognitive Complexity

      Cognitive Complexity is a measure of how difficult a unit of code is to intuitively understand. Unlike Cyclomatic Complexity, which determines how difficult your code will be to test, Cognitive Complexity tells you how difficult your code will be to read and comprehend.

      A method's cognitive complexity is based on a few simple rules:

      • Code is not considered more complex when it uses shorthand that the language provides for collapsing multiple statements into one
      • Code is considered more complex for each "break in the linear flow of the code"
      • Code is considered more complex when "flow breaking structures are nested"

      Further reading

      Function get_multiple_scans has a Cognitive Complexity of 6 (exceeds 5 allowed). Consider refactoring.
      Open

          def get_multiple_scans(self, start_step=START_STEP, stop_step=STOP_STEP, cluster_count=1,
                           scan_interval=0, number_of_scans=0):
        self.__port_lock.acquire()
        try:
            cmd = 'MD%04d%04d%02d%01d%02d\n' % (start_step, stop_step, cluster_count, scan_interval, number_of_scans)
      Severity: Minor
      Found in src/amberdriver/hokuyo/hokuyo.py - About 25 mins to fix

      Cognitive Complexity

      Cognitive Complexity is a measure of how difficult a unit of code is to intuitively understand. Unlike Cyclomatic Complexity, which determines how difficult your code will be to test, Cognitive Complexity tells you how difficult your code will be to read and comprehend.

      A method's cognitive complexity is based on a few simple rules:

      • Code is not considered more complex when it uses shorthand that the language provides for collapsing multiple statements into one
      • Code is considered more complex for each "break in the linear flow of the code"
      • Code is considered more complex when "flow breaking structures are nested"

      Further reading

      Identical blocks of code found in 2 locations. Consider refactoring.
      Open

      def decode(val):
    bin_str = '0b'
    for char in val:
        val = ord(char) - 0x30
        bin_str += '%06d' % int(bin(val)[2:])
      Severity: Major
      Found in src/amberdriver/hokuyo/hokuyo.py and 1 other location - About 3 hrs to fix
      src/amberdriver/hokuyo/hokuyo_common.py on lines 31..36

      Duplicated Code

      Duplicated code can lead to software that is hard to understand and difficult to change. The Don't Repeat Yourself (DRY) principle states:

      Every piece of knowledge must have a single, unambiguous, authoritative representation within a system.

      When you violate DRY, bugs and maintenance problems are sure to follow. Duplicated code has a tendency to both continue to replicate and also to diverge (leaving bugs as two similar implementations differ in subtle ways).

      Tuning

      This issue has a mass of 67.

      We set useful threshold defaults for the languages we support but you may want to adjust these settings based on your project guidelines.

      The threshold configuration represents the minimum mass a code block must have to be analyzed for duplication. The lower the threshold, the more fine-grained the comparison.

      If the engine is too easily reporting duplication, try raising the threshold. If you suspect that the engine isn't catching enough duplication, try lowering the threshold. The best setting tends to differ from language to language.

      See codeclimate-duplication's documentation for more information about tuning the mass threshold in your .codeclimate.yml.

      Refactorings

      Further Reading

      Identical blocks of code found in 2 locations. Consider refactoring.
      Open

              for chunk in chunks(result, 3):
            distances[- ((Hokuyo.STEP_DEG * cluster_count * i) + start)] = decode(chunk)
            i += 1
      Severity: Major
      Found in src/amberdriver/hokuyo/hokuyo.py and 1 other location - About 2 hrs to fix
      src/amberdriver/hokuyo/hokuyo_common.py on lines 188..190

      Duplicated Code

      Duplicated code can lead to software that is hard to understand and difficult to change. The Don't Repeat Yourself (DRY) principle states:

      Every piece of knowledge must have a single, unambiguous, authoritative representation within a system.

      When you violate DRY, bugs and maintenance problems are sure to follow. Duplicated code has a tendency to both continue to replicate and also to diverge (leaving bugs as two similar implementations differ in subtle ways).

      Tuning

      This issue has a mass of 57.

      We set useful threshold defaults for the languages we support but you may want to adjust these settings based on your project guidelines.

      The threshold configuration represents the minimum mass a code block must have to be analyzed for duplication. The lower the threshold, the more fine-grained the comparison.

      If the engine is too easily reporting duplication, try raising the threshold. If you suspect that the engine isn't catching enough duplication, try lowering the threshold. The best setting tends to differ from language to language.

      See codeclimate-duplication's documentation for more information about tuning the mass threshold in your .codeclimate.yml.

      Refactorings

      Further Reading

      Identical blocks of code found in 2 locations. Consider refactoring.
      Open

              try:
            result += self.__execute_command(cmd)

            result += self.__port.read(4)
            if check_response:
      Severity: Major
      Found in src/amberdriver/hokuyo/hokuyo.py and 1 other location - About 1 hr to fix
      src/amberdriver/hokuyo/hokuyo.py on lines 130..144

      Duplicated Code

      Duplicated code can lead to software that is hard to understand and difficult to change. The Don't Repeat Yourself (DRY) principle states:

      Every piece of knowledge must have a single, unambiguous, authoritative representation within a system.

      When you violate DRY, bugs and maintenance problems are sure to follow. Duplicated code has a tendency to both continue to replicate and also to diverge (leaving bugs as two similar implementations differ in subtle ways).

      Tuning

      This issue has a mass of 42.

      We set useful threshold defaults for the languages we support but you may want to adjust these settings based on your project guidelines.

      The threshold configuration represents the minimum mass a code block must have to be analyzed for duplication. The lower the threshold, the more fine-grained the comparison.

      If the engine is too easily reporting duplication, try raising the threshold. If you suspect that the engine isn't catching enough duplication, try lowering the threshold. The best setting tends to differ from language to language.

      See codeclimate-duplication's documentation for more information about tuning the mass threshold in your .codeclimate.yml.

      Refactorings

      Further Reading

      Identical blocks of code found in 2 locations. Consider refactoring.
      Open

      def chunks(l, n):
    for i in xrange(0, len(l), n):
        yield l[i:i + n]
      Severity: Major
      Found in src/amberdriver/hokuyo/hokuyo.py and 1 other location - About 1 hr to fix
      src/amberdriver/hokuyo/hokuyo_common.py on lines 26..28

      Duplicated Code

      Duplicated code can lead to software that is hard to understand and difficult to change. The Don't Repeat Yourself (DRY) principle states:

      Every piece of knowledge must have a single, unambiguous, authoritative representation within a system.

      When you violate DRY, bugs and maintenance problems are sure to follow. Duplicated code has a tendency to both continue to replicate and also to diverge (leaving bugs as two similar implementations differ in subtle ways).

      Tuning

      This issue has a mass of 42.

      We set useful threshold defaults for the languages we support but you may want to adjust these settings based on your project guidelines.

      The threshold configuration represents the minimum mass a code block must have to be analyzed for duplication. The lower the threshold, the more fine-grained the comparison.

      If the engine is too easily reporting duplication, try raising the threshold. If you suspect that the engine isn't catching enough duplication, try lowering the threshold. The best setting tends to differ from language to language.

      See codeclimate-duplication's documentation for more information about tuning the mass threshold in your .codeclimate.yml.

      Refactorings

      Further Reading

      Identical blocks of code found in 2 locations. Consider refactoring.
      Open

              try:
            result += self.__execute_command(command)
            result += self.__port.read(Hokuyo.SHORT_COMMAND_LEN)

            if check_response:
      Severity: Major
      Found in src/amberdriver/hokuyo/hokuyo.py and 1 other location - About 1 hr to fix
      src/amberdriver/hokuyo/hokuyo.py on lines 152..179

      Duplicated Code

      Duplicated code can lead to software that is hard to understand and difficult to change. The Don't Repeat Yourself (DRY) principle states:

      Every piece of knowledge must have a single, unambiguous, authoritative representation within a system.

      When you violate DRY, bugs and maintenance problems are sure to follow. Duplicated code has a tendency to both continue to replicate and also to diverge (leaving bugs as two similar implementations differ in subtle ways).

      Tuning

      This issue has a mass of 42.

      We set useful threshold defaults for the languages we support but you may want to adjust these settings based on your project guidelines.

      The threshold configuration represents the minimum mass a code block must have to be analyzed for duplication. The lower the threshold, the more fine-grained the comparison.

      If the engine is too easily reporting duplication, try raising the threshold. If you suspect that the engine isn't catching enough duplication, try lowering the threshold. The best setting tends to differ from language to language.

      See codeclimate-duplication's documentation for more information about tuning the mass threshold in your .codeclimate.yml.

      Refactorings

      Further Reading

      Identical blocks of code found in 2 locations. Consider refactoring.
      Open

          def set_motor_speed(self, motor_speed=99):
        return self.__short_command('CR' + '%02d' % motor_speed + '\n', check_response=False)
      Severity: Major
      Found in src/amberdriver/hokuyo/hokuyo.py and 1 other location - About 1 hr to fix
      src/amberdriver/hokuyo/hokuyo_common.py on lines 156..157

      Duplicated Code

      Duplicated code can lead to software that is hard to understand and difficult to change. The Don't Repeat Yourself (DRY) principle states:

      Every piece of knowledge must have a single, unambiguous, authoritative representation within a system.

      When you violate DRY, bugs and maintenance problems are sure to follow. Duplicated code has a tendency to both continue to replicate and also to diverge (leaving bugs as two similar implementations differ in subtle ways).

      Tuning

      This issue has a mass of 40.

      We set useful threshold defaults for the languages we support but you may want to adjust these settings based on your project guidelines.

      The threshold configuration represents the minimum mass a code block must have to be analyzed for duplication. The lower the threshold, the more fine-grained the comparison.

      If the engine is too easily reporting duplication, try raising the threshold. If you suspect that the engine isn't catching enough duplication, try lowering the threshold. The best setting tends to differ from language to language.

      See codeclimate-duplication's documentation for more information about tuning the mass threshold in your .codeclimate.yml.

      Refactorings

      Further Reading

      Identical blocks of code found in 2 locations. Consider refactoring.
      Open

          @staticmethod
    def __parse_scan(scan):
        angles = sorted(scan.keys())
        distances = map(scan.get, angles)
        return angles, distances
      Severity: Major
      Found in src/amberdriver/hokuyo/hokuyo.py and 1 other location - About 1 hr to fix
      src/amberdriver/hokuyo/hokuyo_common.py on lines 467..471

      Duplicated Code

      Duplicated code can lead to software that is hard to understand and difficult to change. The Don't Repeat Yourself (DRY) principle states:

      Every piece of knowledge must have a single, unambiguous, authoritative representation within a system.

      When you violate DRY, bugs and maintenance problems are sure to follow. Duplicated code has a tendency to both continue to replicate and also to diverge (leaving bugs as two similar implementations differ in subtle ways).

      Tuning

      This issue has a mass of 39.

      We set useful threshold defaults for the languages we support but you may want to adjust these settings based on your project guidelines.

      The threshold configuration represents the minimum mass a code block must have to be analyzed for duplication. The lower the threshold, the more fine-grained the comparison.

      If the engine is too easily reporting duplication, try raising the threshold. If you suspect that the engine isn't catching enough duplication, try lowering the threshold. The best setting tends to differ from language to language.

      See codeclimate-duplication's documentation for more information about tuning the mass threshold in your .codeclimate.yml.

      Refactorings

      Further Reading

      Identical blocks of code found in 2 locations. Consider refactoring.
      Open

              start = (-Hokuyo.START_DEG + Hokuyo.STEP_DEG * cluster_count * (start_step - Hokuyo.START_STEP))
      Severity: Major
      Found in src/amberdriver/hokuyo/hokuyo.py and 1 other location - About 1 hr to fix
      src/amberdriver/hokuyo/hokuyo_common.py on lines 187..187

      Duplicated Code

      Duplicated code can lead to software that is hard to understand and difficult to change. The Don't Repeat Yourself (DRY) principle states:

      Every piece of knowledge must have a single, unambiguous, authoritative representation within a system.

      When you violate DRY, bugs and maintenance problems are sure to follow. Duplicated code has a tendency to both continue to replicate and also to diverge (leaving bugs as two similar implementations differ in subtle ways).

      Tuning

      This issue has a mass of 39.

      We set useful threshold defaults for the languages we support but you may want to adjust these settings based on your project guidelines.

      The threshold configuration represents the minimum mass a code block must have to be analyzed for duplication. The lower the threshold, the more fine-grained the comparison.

      If the engine is too easily reporting duplication, try raising the threshold. If you suspect that the engine isn't catching enough duplication, try lowering the threshold. The best setting tends to differ from language to language.

      See codeclimate-duplication's documentation for more information about tuning the mass threshold in your .codeclimate.yml.

      Refactorings

      Further Reading

      Similar blocks of code found in 2 locations. Consider refactoring.
      Open

          def set_high_sensitive(self, high_sensitive=True):
        return self.__short_command('HS' + ('1\n' if high_sensitive else '0\n'), check_response=False)
      Severity: Minor
      Found in src/amberdriver/hokuyo/hokuyo.py and 1 other location - About 40 mins to fix
      src/amberdriver/hokuyo/hokuyo_common.py on lines 159..160

      Duplicated Code

      Duplicated code can lead to software that is hard to understand and difficult to change. The Don't Repeat Yourself (DRY) principle states:

      Every piece of knowledge must have a single, unambiguous, authoritative representation within a system.

      When you violate DRY, bugs and maintenance problems are sure to follow. Duplicated code has a tendency to both continue to replicate and also to diverge (leaving bugs as two similar implementations differ in subtle ways).

      Tuning

      This issue has a mass of 34.

      We set useful threshold defaults for the languages we support but you may want to adjust these settings based on your project guidelines.

      The threshold configuration represents the minimum mass a code block must have to be analyzed for duplication. The lower the threshold, the more fine-grained the comparison.

      If the engine is too easily reporting duplication, try raising the threshold. If you suspect that the engine isn't catching enough duplication, try lowering the threshold. The best setting tends to differ from language to language.

      See codeclimate-duplication's documentation for more information about tuning the mass threshold in your .codeclimate.yml.

      Refactorings

      Further Reading

      Identical blocks of code found in 2 locations. Consider refactoring.
      Open

                      if char is not None:
                    char = chr(char)
                    result += char
                    if char == '\n':
                        line += 1
      Severity: Minor
      Found in src/amberdriver/hokuyo/hokuyo.py and 1 other location - About 40 mins to fix
      src/amberdriver/hokuyo/hokuyo_common.py on lines 127..131

      Duplicated Code

      Duplicated code can lead to software that is hard to understand and difficult to change. The Don't Repeat Yourself (DRY) principle states:

      Every piece of knowledge must have a single, unambiguous, authoritative representation within a system.

      When you violate DRY, bugs and maintenance problems are sure to follow. Duplicated code has a tendency to both continue to replicate and also to diverge (leaving bugs as two similar implementations differ in subtle ways).

      Tuning

      This issue has a mass of 34.

      We set useful threshold defaults for the languages we support but you may want to adjust these settings based on your project guidelines.

      The threshold configuration represents the minimum mass a code block must have to be analyzed for duplication. The lower the threshold, the more fine-grained the comparison.

      If the engine is too easily reporting duplication, try raising the threshold. If you suspect that the engine isn't catching enough duplication, try lowering the threshold. The best setting tends to differ from language to language.

      See codeclimate-duplication's documentation for more information about tuning the mass threshold in your .codeclimate.yml.

      Refactorings

      Further Reading

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