智路OS是全球首个开源开放的智能网联路侧单元操作系统以高等级自动驾驶技术为牵引，沉淀出来的车路云网图一体化的智能交通基础软件平台

### ins设备 模块提供了接入AirOS-edge ins设备所需要的标准接口，定义了AirOS-edge结构化的ins输出数据类型，提供ins设备的注册工厂。 用户需要将ins采集的数据封装成如下的AirOS-edge结构化的ins输出数据类型 ```protobuf message AoGPSFrame{ //INS solution type. enum Type { // Do NOT use. // Invalid solution due to insufficient observations, no initial GNSS, ... INVALID = 0; // Use with caution. The covariance matrix may be unavailable or incorrect. // High-variance result due to aligning, insufficient vehicle dynamics, ... CONVERGING = 1; // Safe to use. The INS has fully converged. GOOD = 2; } //Altitude(meters). Positive is above reference (e.g., sea level). optional float altitude = 1; //Vertical speed(meters/second) optional float climb = 2; //Direction deviation angle(degrees) optional float direction = 3; //Horizontal accuracy optional float hacc = 4; //Horizontal dilution of precision optional float hdop = 5; //Latitude(degrees). Positive is north of equator; negative is south. optional float latitude = 6; //Longitude (degrees). Positive is east of prime meridian; negative west. optional float longitude = 7; // East/north/up in meters per second. optional Point3D linearVelocity = 8; //(usec) optional uint64 timestamp_us = 9; optional UtcDate utcData = 10; optional UtcTime utcTime = 11; //Vertical accuracy optional float vacc = 12; //Vertical dilution of precision optional float vdop = 13; //sequence_num optional uint32 sequence_num = 14; //INS solution type. optional Type type = 15; } message AoIMUFrame{ //Triaxial acceleration optional Point3D acceleration = 1; //IMU heading angle optional float heading = 2; //IMU heading angle type optional HeadingType headingType = 3; //magnetometer(utesla) optional double magnetometer = 4; //orientation(degrees) optional double orientation = 5; //orientationQuaternion(x,y,z,2) optional Quaternion orientationQuaternion = 6; //(usec) optional double timestamp_us = 7; //around forward/left/up axes in radians per second. optional Point3D angularVelocity = 8; //sequence_num optional uint32 sequence_num = 9; } ``` 详细的字段定义请参阅：[ins_data.proto](../proto/ins_data.proto) ### 接口含义 用户需要实现3个接口：`Init`、`Start`、`GetState` #### `Init`接口 用于读入ins的初始化配置文件，实现ins的初始化。 #### `Start` 接口 用于启动ins设备，获取AirOS-edge结构化的标准ins输出数据。 #### `GetState` 接口 用于实现ins的状态查询，返回ins的运行状态。 ### 使用方式 1. 在ins目录下建立具体ins设备的目录（建议），添加具体设备的`.h`头文件，引用ins接口头文件，并继承ins接口抽象类（以`dummy_ins`为例） 引入ins接口头文件 ```c++ #include "ins/device_base.h" ``` 继承ins接口抽象类 ```c++ class DummyIns : public InsDevice { public: DummyIns(const GnssCallBack& cb_1, const IMUCallBack& cb_2) : InsDevice(cb_1, cb_2) {} virtual ~DummyIns() = default; bool Init(const std::string& config_file) override; void Start() override; InsDeviceState GetState() override { return InsDeviceState::NORMAL; } }; ``` 2. 添加具体设备的`.cpp`文件，引入ins设备注册工厂，实现相应的接口，用注册宏将具体设备注册给ins工厂 引入ins设备注册工厂： ```c++ #include "dummy_ins.h" // 引入ins设备注册工厂 #include "ins/device_factory.h" ``` 实现ins初始化接口： ```c++ bool DummyIns::Init(const std::string& config_file) { std::ofstream fs; fs.open(config_file, std::ios::in); if (!fs.is_open()) { return false; } /* 解析config_file参数，初始化相机各项参数 code here... */ return true; } ``` 实现ins启动接口 ```c++ void DummyIns::Start() { int i = 0; while(i < 5) { // 设备数据产生与格式化制备 auto data1 = std::make_shared<AoGPSFrame>(); auto data2 = std::make_shared<AoIMUFrame>(); /* 填充格式化的输出数据 code here... */ data1->mutable_header()->set_sequence_num(i); data2->mutable_header()->set_sequence_num(i); ++i; // 将结构化数据输出给回调函数 sender_1_(data1); sender_2_(data2); std::this_thread::sleep_for(std::chrono::seconds(1)); } } ``` 实现lidar状态查询接口 ```c++ InsDeviceState GetState() override { /* 返回ins当前运行状态 */ } ``` 将ins设备注册给ins设备工厂 ```c++ // 将DummyIns设备以”dummy_ins“名称注册给ins设备工厂 V2XOS_INS_REG_FACTORY(DummyIns, "dummy_ins"); ``` 3. AirOS-edge框架将会以如下方式构造和启动`dummy_ins`设备 基于注册设备时的key，利用设备工厂构建指定的设备 ```c++ ... auto device = InsDeviceFactory::Instance().GetShared(device_type, proc_gnss_data, proc_imu_data); if (!device) { std::cerr << "Build device instance failed! skip: " << device_type << std::endl; continue; } ... ``` 初始化设备 ```c++ ... if (!device->Init(ins_conf)) { std::cerr << "Init " << ins_name << " failed! skip: " << ins_name << std::endl; continue; } ... ``` 启动设备 ```c++ ... task_map.emplace(ins_name, new std::thread([device](){ device->Start(); })); ... ``` *`device` 与 `task_map` 为AirOS-edge框架内部持有的成员变量* *`proc_gnss_data, proc_imu_data` 为AirOS-edge框架内部定义的ins结构化输出数据处理函数*