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src/amberdriver/hokuyo/hokuyo_common.py

Summary

Maintainability
F
3 days
Test Coverage

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
Severity: Minor
Found in src/amberdriver/hokuyo/hokuyo_common.py - About 4 hrs to fix

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

      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 = ''
        # noinspection PyBroadException
        try:
            result += self.__execute_command(cmd)
      Severity: Minor
      Found in src/amberdriver/hokuyo/hokuyo_common.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_scan has 5 arguments (exceeds 4 allowed). Consider refactoring.
      Open

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

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

            @staticmethod
    def __fill_scan(response_message, angles, distances, timestamp):
        response_message.Extensions[hokuyo_pb2.scan].angles.extend(angles)
        response_message.Extensions[hokuyo_pb2.scan].distances.extend(distances)
        response_message.Extensions[hokuyo_pb2.timestamp] = timestamp
        Severity: Major
        Found in src/amberdriver/hokuyo/hokuyo_common.py and 1 other location - About 3 hrs to fix
        src/amberdriver/hokuyo/hokuyo_controller.py on lines 71..76

        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 71.

        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 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_common.py and 1 other location - About 3 hrs to fix
        src/amberdriver/hokuyo/hokuyo.py on lines 28..33

        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

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

            def handle_data_message(self, header, message):
        if message.HasExtension(hokuyo_pb2.get_single_scan):
            self.__handle_get_single_scan(header, message)

        elif message.HasExtension(hokuyo_pb2.enable_scanning):
        Severity: Major
        Found in src/amberdriver/hokuyo/hokuyo_common.py and 1 other location - About 3 hrs to fix
        src/amberdriver/roboclaw/roboclaw_controller.py on lines 44..52

        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 65.

        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_common.py and 1 other location - About 2 hrs to fix
        src/amberdriver/hokuyo/hokuyo.py on lines 231..233

        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

        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_common.py and 1 other location - About 1 hr to fix
        src/amberdriver/hokuyo/hokuyo.py on lines 23..25

        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(cmd)

            result += self.__port.read(4)
            if check_response:
        Severity: Major
        Found in src/amberdriver/hokuyo/hokuyo_common.py and 1 other location - About 1 hr to fix
        src/amberdriver/hokuyo/hokuyo_common.py on lines 98..111

        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

            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_common.py and 1 other location - About 1 hr to fix
        src/amberdriver/hokuyo/hokuyo.py on lines 193..194

        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

                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_common.py and 1 other location - About 1 hr to fix
        src/amberdriver/hokuyo/hokuyo_common.py on lines 116..142

        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_common.py and 1 other location - About 1 hr to fix
        src/amberdriver/hokuyo/hokuyo.py on lines 368..372

        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_common.py and 1 other location - About 1 hr to fix
        src/amberdriver/hokuyo/hokuyo.py on lines 230..230

        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 __get_subscribers_count(self):
        try:
            self.__subscribers_condition.acquire()
            return len(self.__subscribers)
        Severity: Minor
        Found in src/amberdriver/hokuyo/hokuyo_common.py and 1 other location - About 50 mins to fix
        src/amberdriver/hokuyo/hokuyo_common.py on lines 421..427

        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 36.

        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 __get_subscribers(self):
        try:
            self.__subscribers_condition.acquire()
            return list(self.__subscribers)
        Severity: Minor
        Found in src/amberdriver/hokuyo/hokuyo_common.py and 1 other location - About 50 mins to fix
        src/amberdriver/hokuyo/hokuyo_common.py on lines 429..435

        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 36.

        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, enable=True):
        return self.__short_command('HS' + ('1\n' if enable else '0\n'), check_response=False)
        Severity: Minor
        Found in src/amberdriver/hokuyo/hokuyo_common.py and 1 other location - About 40 mins to fix
        src/amberdriver/hokuyo/hokuyo.py on lines 196..197

        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 not char is None:
                    char = chr(char)
                    result += char
                    if char == '\n':
                        line += 1
        Severity: Minor
        Found in src/amberdriver/hokuyo/hokuyo_common.py and 1 other location - About 40 mins to fix
        src/amberdriver/hokuyo/hokuyo.py on lines 163..167

        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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