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       1                 :            : // Copyright 2020 the Autoware Foundation
       2                 :            : //
       3                 :            : // Licensed under the Apache License, Version 2.0 (the "License");
       4                 :            : // you may not use this file except in compliance with the License.
       5                 :            : // You may obtain a copy of the License at
       6                 :            : //
       7                 :            : //     http://www.apache.org/licenses/LICENSE-2.0
       8                 :            : //
       9                 :            : // Unless required by applicable law or agreed to in writing, software
      10                 :            : // distributed under the License is distributed on an "AS IS" BASIS,
      11                 :            : // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
      12                 :            : // See the License for the specific language governing permissions and
      13                 :            : // limitations under the License.
      14                 :            : //
      15                 :            : // Co-developed by Tier IV, Inc. and Apex.AI, Inc.
      16                 :            : /// \file
      17                 :            : /// \brief Interface definition for signal processing filters
      18                 :            : #ifndef SIGNAL_FILTERS__FILTER_FACTORY_HPP_
      19                 :            : #define SIGNAL_FILTERS__FILTER_FACTORY_HPP_
      20                 :            : 
      21                 :            : #include <signal_filters/visibility_control.hpp>
      22                 :            : #include <signal_filters/signal_filter.hpp>
      23                 :            : #include <signal_filters/low_pass_filter.hpp>
      24                 :            : 
      25                 :            : #include <algorithm>
      26                 :            : #include <memory>
      27                 :            : #include <stdexcept>
      28                 :            : #include <string>
      29                 :            : 
      30                 :            : namespace autoware
      31                 :            : {
      32                 :            : namespace common
      33                 :            : {
      34                 :            : namespace signal_filters
      35                 :            : {
      36                 :            : 
      37                 :            : enum class FilterType : int32_t
      38                 :            : {
      39                 :            :   None = 0,
      40                 :            :   LowPassFilter
      41                 :            : };  // enum class FilterType
      42                 :            : 
      43                 :            : /// Factory class to create some kind of low pass filter
      44                 :            : class SIGNAL_FILTERS_PUBLIC FilterFactory
      45                 :            : {
      46                 :            : public:
      47                 :            :   /// Create a low pass filter
      48                 :            :   /// \param[in] type The name of the filter type, expects one of "none, "low_pass_filter"
      49                 :            :   /// \param[in] cutoff_frequency The filter starts to have < 1.0 frequency response starting
      50                 :            :   ///                             around here
      51                 :            :   /// \tparam T The floating point type of the filter
      52                 :            :   /// \tparam ClockT The clock type of the filter. Use default parameter if you want to provide
      53                 :            :   ///                durations between points yourself
      54                 :            :   template<typename T, typename ClockT = DummyClock>
      55                 :         18 :   static std::unique_ptr<FilterBase<T, ClockT>> create(const std::string & type, T cutoff_frequency)
      56                 :            :   {
      57                 :            :     FilterType type_enum = FilterType::LowPassFilter;
      58                 :            :     auto type_clean = type;
      59                 :            :     (void)std::transform(
      60                 :            :       type_clean.begin(), type_clean.end(), type_clean.begin(),
      61                 :         42 :       [](auto c) {return std::tolower(c);});
      62         [ +  - ]:         18 :     if ("low_pass_filter" == type_clean) {
      63                 :            :       type_enum = FilterType::LowPassFilter;
      64   [ +  +  +  + ]:         30 :     } else if (type_clean.empty() || ("none" == type_clean)) {
      65                 :            :       type_enum = FilterType::None;
      66                 :            :     } else {
      67         [ +  - ]:          6 :       std::string err{"Unknown filter type: "};
      68                 :            :       err += type;
      69         [ +  - ]:          6 :       throw std::domain_error{err};
      70                 :            :     }
      71         [ +  - ]:         24 :     return create<T, ClockT>(type_enum, cutoff_frequency);
      72                 :            :   }
      73                 :            : 
      74                 :            :   /// Create a low pass filter
      75                 :            :   /// \param[in] type The type of the filter type
      76                 :            :   /// \param[in] cutoff_frequency The filter starts to have < 1.0 frequency response starting
      77                 :            :   ///                             around here
      78                 :            :   /// \tparam T The floating point type of the filter
      79                 :            :   /// \tparam ClockT The clock type of the filter. Use default parameter if you want to provide
      80                 :            :   ///                durations between points yourself
      81                 :            :   template<typename T, typename ClockT = DummyClock>
      82                 :         36 :   static std::unique_ptr<FilterBase<T, ClockT>> create(FilterType type, T cutoff_frequency)
      83                 :            :   {
      84      [ +  +  - ]:         36 :     switch (type) {
      85                 :            :       case FilterType::None:
      86                 :            :         return nullptr;
      87                 :         24 :       case FilterType::LowPassFilter:
      88                 :         24 :         return std::make_unique<LowPassFilter<T, ClockT>>(cutoff_frequency);
      89                 :          0 :       default:
      90         [ #  # ]:          0 :         throw std::domain_error{"Unknown filter type"};
      91                 :            :     }
      92                 :            :   }
      93                 :            : };  // class FilterFactory
      94                 :            : 
      95                 :            : }  // namespace signal_filters
      96                 :            : }  // namespace common
      97                 :            : }  // namespace autoware
      98                 :            : 
      99                 :            : #endif  // SIGNAL_FILTERS__FILTER_FACTORY_HPP_