CXX-W2041 @ ff6ee01 • MissouriMRDT / Autonomy

Run summary

4 days ago

d15cac6..ff6ee01

3 mins 14 s

Found redundant cloned branches CXX-W2041

Anti-pattern

Minor

34 occurrences in this check

body of if is identical to the body of else

src/vision/objects/ObjectDetector.cpp

175        // Check which frame we should copy.
176        switch (stContainer.eFrameType)
177        {
178            case PIXEL_FORMATS::eDepthDetection: *(stContainer.pFrame) = m_cvProcFrame; break;179            case PIXEL_FORMATS::eTensorflowDetection: *(stContainer.pFrame) = m_cvProcFrame; break;
180            default: *(stContainer.pFrame) = m_cvProcFrame;
181        }

body of if is identical to the body of else

src/vision/cameras/sim/SIMBasicCam.cpp

157        // Determine which frame should be copied.
158        switch (stContainer.eFrameType)
159        {
160            case PIXEL_FORMATS::eBGRA: *(stContainer.pFrame) = m_cvFrame; break;161            case PIXEL_FORMATS::eDepthMeasure: *(stContainer.pFrame) = m_cvDepthMeasure; break;
162            case PIXEL_FORMATS::eDepthImage: *(stContainer.pFrame) = m_cvDepthImage; break;
163            case PIXEL_FORMATS::eXYZ: *(stContainer.pFrame) = m_cvPointCloud; break;

body of if is identical to the body of else

src/vision/cameras/ZEDCam.cpp

2186                                      }
2187
2188                                      // Check if the spatial map was exported successfully.
2189                                      if (m_slCamera.getSpatialMapRequestStatusAsync() == sl::ERROR_CODE::SUCCESS)2190                                      {
2191                                          // Get and store the spatial map.
2192                                          m_slCamera.retrieveSpatialMapAsync(slSpatialMap);

body of if is identical to the body of else

src/vision/cameras/ZEDCam.cpp

1480                {
1481                    // Covariance error.
1482                    if (slReturnCode == sl::FUSION_ERROR_CODE::GNSS_DATA_COVARIANCE_MUST_VARY || slReturnCode == sl::FUSION_ERROR_CODE::INVALID_COVARIANCE)
1483                    {1484                        // Submit logger message.
1485                        LOG_WARNING(logging::g_qSharedLogger,
1486                                    "Unable to ingest fusion GNSS data for camera {} ({})! sl::Fusion positional tracking may be inaccurate! sl::FUSION_ERROR_CODE "

body of if is identical to the body of else

src/vision/cameras/ZEDCam.cpp

1420                // Get the GNSS fix type status from the given GPS coordinate.
1421                switch (stNewGPSLocation.eCoordinateAccuracyFixType)
1422                {
1423                    case geoops::PositionFixType::eNoFix:1424                    {
1425                        slGNSSData.gnss_status = sl::GNSS_STATUS::SINGLE;
1426                        slGNSSData.gnss_mode   = sl::GNSS_MODE::NO_FIX;

body of if is identical to the body of else

src/vision/cameras/ZEDCam.cpp

1315    }
1316
1317    // Check if this camera was successfully subscribed to the Fusion instance.
1318    if (slReturnCode == sl::FUSION_ERROR_CODE::SUCCESS)1319    {
1320        // Submit logger message.
1321        LOG_DEBUG(logging::g_qSharedLogger,

body of if is identical to the body of else

src/vision/cameras/ZEDCam.cpp

 746            // Determine which frame should be copied.
 747            switch (stContainer.eFrameType)
 748            {
 749                case PIXEL_FORMATS::eBGRA: *(stContainer.pFrame) = imgops::ConvertSLMatToGPUMat(m_slFrame); break; 750                case PIXEL_FORMATS::eDepthMeasure: *(stContainer.pFrame) = imgops::ConvertSLMatToGPUMat(m_slDepthMeasure); break;
 751                case PIXEL_FORMATS::eDepthImage: *(stContainer.pFrame) = imgops::ConvertSLMatToGPUMat(m_slDepthImage); break;
 752                case PIXEL_FORMATS::eXYZBGRA: *(stContainer.pFrame) = imgops::ConvertSLMatToGPUMat(m_slPointCloud); break;

body of if is identical to the body of else

src/vision/cameras/ZEDCam.cpp

 707            // Determine which frame should be copied.
 708            switch (stContainer.eFrameType)
 709            {
 710                case PIXEL_FORMATS::eBGRA: *(stContainer.pFrame) = imgops::ConvertSLMatToCVMat(m_slFrame); break; 711                case PIXEL_FORMATS::eDepthMeasure: *(stContainer.pFrame) = imgops::ConvertSLMatToCVMat(m_slDepthMeasure); break;
 712                case PIXEL_FORMATS::eDepthImage: *(stContainer.pFrame) = imgops::ConvertSLMatToCVMat(m_slDepthImage); break;
 713                case PIXEL_FORMATS::eXYZBGRA: *(stContainer.pFrame) = imgops::ConvertSLMatToCVMat(m_slPointCloud); break;

body of if is identical to the body of else

src/vision/cameras/ZEDCam.cpp

 499                    sl::POSITIONAL_TRACKING_STATE slPoseTrackReturnCode;
 500
 501                    // Check if this camera has Fusion instance enabled.
 502                    if (m_bCameraIsFusionMaster) 503                    {
 504                        // Get tracking pose from Fusion.
 505                        slPoseTrackReturnCode = m_slFusionInstance.getPosition(m_slCameraPose, sl::REFERENCE_FRAME::WORLD);

body of if is identical to the body of else

src/vision/cameras/ZEDCam.cpp

 207            slReturnCode = m_slFusionInstance.subscribe(sl::CameraIdentifier(m_unCameraSerialNumber));
 208
 209            // Check if this camera was successfully subscribed to the Fusion instance.
 210            if (slReturnCode == sl::FUSION_ERROR_CODE::SUCCESS) 211            {
 212                // Submit logger message.
 213                LOG_DEBUG(logging::g_qSharedLogger, "Initialized FUSION instance for ZED camera {} ({})!", sl::toString(m_slCameraModel).get(), m_unCameraSerialNumber);

body of if is identical to the body of else

src/vision/cameras/ZEDCam.cpp

 112    m_slSpatialMappingParams.use_chunk_only    = constants::ZED_MAPPING_USE_CHUNK_ONLY;
 113    m_slSpatialMappingParams.stability_counter = constants::ZED_MAPPING_STABILITY_COUNTER;
 114    // Set or auto-set max depth range for mapping.
 115    if (constants::ZED_MAPPING_RANGE_METER <= 0) 116    {
 117        // Automatically guess the best mapping depth range.
 118        m_slSpatialMappingParams.range_meter = m_slSpatialMappingParams.getRecommendedRange(constants::ZED_MAPPING_RESOLUTION_METER, m_slCamera);

body of if is identical to the body of else

src/vision/cameras/BasicCam.cpp

184            if (nTimeSinceEpoch % 5 == 0 && !bReopenAlreadyChecked)
185            {
186                // Check if camera was opened with an index or path.
187                if (m_nCameraIndex == -1)188                {
189                    // Attempt to reopen camera.
190                    bCameraReopened = m_cvCamera.open(m_szCameraPath);

body of if is identical to the body of else

src/vision/aruco/TagDetector.cpp

787cv::Size TagDetector::GetProcessFrameResolution() const
788{
789    // Check if using a ZED camera.
790    if (m_bUsingZedCamera)791    {
792        // Concatenate camera model name and serial number.
793        return dynamic_cast<ZEDCam*>(m_pCamera)->GetPropResolution();

body of if is identical to the body of else

src/vision/aruco/TagDetector.cpp

711    if (this->GetThreadState() == AutonomyThreadState::eRunning)
712    {
713        // Check if using ZEDCam or BasicCam.
714        if (m_bUsingZedCamera)715        {
716            // Check if camera is NOT open.
717            if (dynamic_cast<ZEDCam*>(m_pCamera)->GetCameraIsOpen())

body of if is identical to the body of else

src/vision/aruco/TagDetector.cpp

158void TagDetector::ThreadedContinuousCode()
159{
160    // Check if using ZEDCam or BasicCam.
161    if (m_bUsingZedCamera)162    {
163        // Check if camera is NOT open.
164        if (!dynamic_cast<ZEDCam*>(m_pCamera)->GetCameraIsOpen())

body of if is identical to the body of else

src/util/vision/ImageOperations.hpp

182    {
183        // Initialize output color mat if necessary.
184        if (cvOutputColors.empty())
185        {186            // Fill mat with zeros, same size as input point cloud, but with 4 char values in third dimension.
187            cvOutputColors = cv::Mat(cvInputPointCloud.rows, cvInputPointCloud.cols, CV_8UC4, cv::Scalar(0));
188        }

body of if is identical to the body of else

src/states/ApproachingMarkerState.cpp

182        double dTargetDistance;
183
184        if (bDetectedTagAR)
185        {186            dTargetHeading  = numops::InputAngleModulus<double>(dCurrHeading + m_stTargetTagAR.dYawAngle, 0, 360);
187            dTargetDistance = m_stTargetTagAR.dStraightLineDistance;
188        }

body of if is identical to the body of else

src/interfaces/TensorflowTPU.hpp

168            // Determine which device is going to be used for this model.
169            switch (eDeviceType)
170            {
171                case eAuto: m_tpuDevice.type = edgetpu::DeviceType(-1); break;172                case ePCIe: m_tpuDevice.type = edgetpu::DeviceType::kApexPci; break;
173                case eUSB: m_tpuDevice.type = edgetpu::DeviceType::kApexUsb; break;
174                default: m_tpuDevice.type = edgetpu::DeviceType(-1); break;

body of if is identical to the body of else

src/interfaces/TensorflowTPU.hpp

 97            }
 98
 99            // Determine if firmware should be loaded ever time code is started.
100            if (bUSBAlwaysDFU)101            {
102                // Always load firmware.
103                m_tpuDeviceOptions["Usb.AlwaysDfu"] = "True";

body of if is identical to the body of else

src/interfaces/TensorflowTPU.hpp

 89            // Determine which power mode should be set.
 90            switch (ePowerMode)
 91            {
 92                case eLow: m_tpuDeviceOptions["Performance"] = "Low"; break; 93                case eMedium: m_tpuDeviceOptions["Performance"] = "Medium"; break;
 94                case eHigh: m_tpuDeviceOptions["Performance"] = "High"; break;
 95                case eMax: m_tpuDeviceOptions["Performance"] = "Max"; break;

body of if is identical to the body of else

src/interfaces/AutonomyThread.hpp

337        {
338            // Check if the pools need to be resized.
339            if (m_thPool.get_thread_count() != nNumThreads)
340            {341                // Pause queuing of new tasks to the threads, then purge them.
342                m_thPool.pause();
343                m_thPool.purge();

body of if is identical to the body of else

src/interfaces/AutonomyThread.hpp

265        {
266            // Check if the pools need to be resized.
267            if (m_thPool.get_thread_count() != nNumThreads)
268            {269                // Pause queuing of new tasks to the threads, then purge them.
270                m_thPool.pause();
271                m_thPool.purge();

body of if is identical to the body of else

src/handlers/WaypointHandler.cpp

600    // Acquire a read lock on the path unordered map.
601    std::shared_lock<std::shared_mutex> lkPathsLock(m_muPathMutex);
602    // Check if the map contains the given key.
603    if (m_umStoredPaths.count(szPathName) > 0)604    {
605        // Return the path vector at the given key.
606        return m_umStoredPaths[szPathName];

body of if is identical to the body of else

src/handlers/StateMachineHandler.cpp

130
131        // Check if the state exists in exitedStates
132        std::unordered_map<statemachine::States, std::shared_ptr<statemachine::State>>::iterator itState = m_umSavedStates.find(eNextState);
133        if (itState != m_umSavedStates.end())134        {
135            // Load the existing state
136            m_pCurrentState = itState->second;

body of if is identical to the body of else

src/handlers/RecordingHandler.cpp

513            {
514                // Check if this is a grayscale or color image.
515                if (m_vFrames[nIter].channels() == 1)
516                {517                    // Convert frame from 1 channel grayscale to 3 channel BGR.
518                    cv::cvtColor(m_vFrames[nIter], m_vFrames[nIter], cv::COLOR_GRAY2BGR);
519                }

Description

Found repeated branches in if/else statements, consecutive repeated branches in switch statements, and identical true and false branches in conditional operators.

In the bad practice example, the then and else branches are identical, which can be considered redundant. The code can be simplified by removing the conditional statement and executing the shared code unconditionally.

However, if this is the intended behavior, there is no reason to use a conditional statement in the first place.

The check also detects repeated branches in longer if/else if/else chains, where it can be harder to notice the problem. In switch statements, the check reports repeated branches only when they are consecutive. This is because the case labels often have a natural ordering, and rearranging them would decrease code readability.

For example:

switch (ch) {
case 'a':
  return 10;
case 'A':
  return 10;
case 'b':
  return 11;
case 'B':
  return 11;
default:
  return 10;
}

In this case, the check reports that the 'a' and 'A' branches are identical (and that the 'b' and 'B' branches are also identical), but it does not report that the default branch is also identical to the first two branches.

If preserving the order of branches is important, the repeated branches can be combined using multiple case labels:

switch (ch) {
case 'a':
case 'A':
  return 10;
case 'b':
case 'B':
  return 11;
default:
  return 10;
}

In this case, the check does not warn for the repeated return 10;, as it helps preserve the order of branches.

The check also examines conditional operators and reports code where the true and false branches are identical:

return test_value(x) ? x : x;

Unlike if statements, the check does not detect chains of conditional operators.

Note: This check also reports situations where branches become identical only after preprocessing.

Bad Practice

if (test_value(x)) {
  y++;
  do_something(x, y);
} else {
  y++;
  do_something(x, y);
}

MissouriMRDT / Autonomy_Software

Bad Practice

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