INSTINCT Code Coverage Report

Line	Branch	Exec	Source
1			// This file is part of INSTINCT, the INS Toolkit for Integrated
2			// Navigation Concepts and Training by the Institute of Navigation of
3			// the University of Stuttgart, Germany.
4			//
5			// This Source Code Form is subject to the terms of the Mozilla Public
6			// License, v. 2.0. If a copy of the MPL was not distributed with this
7			// file, You can obtain one at https://mozilla.org/MPL/2.0/.
8
9			/// @file LowPassFilter.hpp
10			/// @brief Filters incoming data
11			/// @author T. Hobiger (thomas.hobiger@ins.uni-stuttgart.de)
12			/// @author T. Topp (topp@ins.uni-stuttgart.de)
13			/// @date 2024-12-20
14
15			#pragma once
16
17			#include "internal/Node/Node.hpp"
18
19			#include "NodeData/IMU/ImuObs.hpp"
20			#include "NodeData/IMU/ImuObsWDelta.hpp"
21
22			#include "util/Eigen.hpp"
23			#include <map>
24
25			namespace NAV
26			{
27			/// Filters incoming data
28			class LowPassFilter : public Node
29			{
30			public:
31			/// @brief Default constructor
32			LowPassFilter();
33			/// @brief Destructor
34			~LowPassFilter() override;
35			/// @brief Copy constructor
36			LowPassFilter(const LowPassFilter&) = delete;
37			/// @brief Move constructor
38			LowPassFilter(LowPassFilter&&) = delete;
39			/// @brief Copy assignment operator
40			LowPassFilter& operator=(const LowPassFilter&) = delete;
41			/// @brief Move assignment operator
42			LowPassFilter& operator=(LowPassFilter&&) = delete;
43
44			/// @brief String representation of the Class Type
45			[[nodiscard]] static std::string typeStatic();
46
47			/// @brief String representation of the Class Type
48			[[nodiscard]] std::string type() const override;
49
50			/// @brief String representation of the Class Category
51			[[nodiscard]] static std::string category();
52
53			/// @brief ImGui config window which is shown on double click
54			/// @attention Don't forget to set _hasConfig to true in the constructor of the node
55			void guiConfig() override;
56
57			/// @brief Saves the node into a json object
58			[[nodiscard]] json save() const override;
59
60			/// @brief Restores the node from a json object
61			/// @param[in] j Json object with the node state
62			void restore(const json& j) override;
63
64			private:
65			constexpr static size_t OUTPUT_PORT_INDEX_FLOW = 0; ///< @brief Flow
66			constexpr static size_t INPUT_PORT_INDEX_FLOW = 0; ///< @brief Flow
67
68			// ###########################################################################################################
69
70			/// Types of available filters (to be extended)
71			enum class FilterType : uint8_t
72			{
73			Linear, ///< Linear fit filter
74			// Experimental,
75			COUNT, ///< Amount of items in the enum
76			};
77
78			/// Filter description
79			struct FilterItem
80			{
81			/// @brief Default Constructor
82		✗	FilterItem() = default;
83
84			/// @brief Constructor
85			/// @param[in] dataDescription Description of the data (dynamic data identifier)
86			/// @param[in] dataIndex Index of the data (relevant for static data mostly)
87		✗	FilterItem(std::string dataDescription, size_t dataIndex)
88		✗	: dataDescription(std::move(dataDescription)), dataIndex(dataIndex) {}
89
90			/// Description of the data
91			std::string dataDescription;
92			/// Index of the data
93			size_t dataIndex = 0;
94			/// Selected filter type in the GUI
95			FilterType filterType = FilterType::Linear;
96			/// Cutoff frequency [Hz], inverse of this parameter equals to fitting period
97			double linear_filter_cutoff_frequency = 10.0;
98			/// Map which stores all last data points which were used in the previous fit
99			std::map<InsTime, double> dataToFilter;
100			/// Flag to show indicator that it was modified
101			bool modified = true;
102			};
103
104			/// @brief Selected item in the combo
105			size_t _gui_availableItemsSelection = 0;
106
107			/// Available items
108			std::vector<std::string> _availableItems;
109			/// Items to filter
110			std::vector<FilterItem> _filterItems;
111
112			/// @brief Converts the enum to a string
113			/// @param[in] value Enum value to convert into text
114			/// @return String representation of the enum
115			static const char* to_string(FilterType value);
116
117			/// @brief Resets the node. It is guaranteed that the node is initialized when this is called.
118			bool resetNode() override;
119
120			/// @brief Called when a new link was established
121			/// @param[in] startPin Pin where the link starts
122			/// @param[in] endPin Pin where the link ends
123			void afterCreateLink(OutputPin& startPin, InputPin& endPin) override;
124
125			/// @brief Called when a link was deleted
126			/// @param[in] startPin Pin where the link starts
127			/// @param[in] endPin Pin where the link ends
128			void afterDeleteLink(OutputPin& startPin, InputPin& endPin) override;
129
130			/// @brief Callback when receiving data on a port
131			/// @param[in] queue Queue with all the received data messages
132			/// @param[in] pinIdx Index of the pin the data is received on
133			void receiveObs(InputPin::NodeDataQueue& queue, size_t pinIdx);
134
135			/// @brief Filter the provided data
136			/// @param[in] item Filter item to fit
137			/// @param[in] insTime Current Time
138			/// @param[in] value Current value to filter
139			[[nodiscard]] static std::optional<double> filterData(FilterItem& item, const InsTime& insTime, double value);
140
141			friend void to_json(json& j, const FilterItem& data);
142			friend void from_json(const json& j, FilterItem& data);
143			};
144
145			/// @brief Converts the provided link into a json object
146			/// @param[out] j Json object which gets filled with the info
147			/// @param[in] data Data to convert into json
148			void to_json(json& j, const NAV::LowPassFilter::FilterItem& data);
149			/// @brief Converts the provided json object into a link object
150			/// @param[in] j Json object with the needed values
151			/// @param[out] data Object to fill from the json
152			void from_json(const json& j, NAV::LowPassFilter::FilterItem& data);
153
154			} // namespace NAV
155