diff --git a/commonLibs/livoxProto1/device.cpp b/commonLibs/livoxProto1/device.cpp
index 21dea57..54b627e 100644
--- a/commonLibs/livoxProto1/device.cpp
+++ b/commonLibs/livoxProto1/device.cpp
@@ -1714,13 +1714,13 @@ private:
 		// Transfer ownership of the socket from temporary to main descriptor
 		if (tmpPcloudEnableFdDesc.is_open())
 		{
+			// Close the temporary descriptor (but don't close the fd)
 			int fd = tmpPcloudEnableFdDesc.native_handle();
+			tmpPcloudEnableFdDesc.release();
+			// Give the transient FD to the Device object.
 			device.pcloudDataSocketDesc =
 				std::make_unique<boost::asio::posix::stream_descriptor>(
 					device.componentThread->getIoService(), fd);
-
-			// Close the temporary descriptor (but don't close the fd)
-			tmpPcloudEnableFdDesc.release();
 		}
 		device.pcloudDataActive.store(true);
 	}
@@ -1888,6 +1888,14 @@ void Device::registerUdpCommandHandler(
 	const std::string& deviceIP
 	)
 {
+	/**		EXPLANATION:
+	 * Register a UDP command handler for the given cmd_set and cmd_id.
+	 * If the handler already exists for the given device IP, replace it.
+	 * If the handler does not exist, add it to the temporary collection.
+	 *
+	 * Adding a handler to a cmd_set+cmd_id pair which already has a handler
+	 * results in the new handler replacing the old one.
+	 */
 	auto key = std::make_pair(cmd_set, cmd_id);
 	udpCommandHandlers[key] = handler; // Don't move, we need to copy
 
diff --git a/commonLibs/livoxProto1/device.h b/commonLibs/livoxProto1/device.h
index c3adeb4..48c876f 100644
--- a/commonLibs/livoxProto1/device.h
+++ b/commonLibs/livoxProto1/device.h
@@ -90,18 +90,6 @@ public:
 	uint8_t smoSubnetNbits;
 	uint16_t dataPort, cmdPort, imuPort;
 
-	// Static collection for devices being constructed (not yet in DeviceManager)
-	// Maps device IP to list of command-specific UDP handlers for that device
-	struct CommandHandler {
-		uint8_t cmd_set;
-		uint8_t cmd_id;
-		std::function<void(
-			const uint8_t* data, ssize_t bytesReceived,
-			const struct sockaddr_in& senderAddr)> handler;
-	};
-	static std::unordered_map<std::string, std::vector<CommandHandler>>
-		devicesUnderConstruction;
-
 private:
 	// Heartbeat mechanism
 	void startHeartbeat();
@@ -182,12 +170,47 @@ private:
 	// Point cloud data setup
 	void cleanupPcloudDataSocket();
 
+	/**		EXPLANATION:
+	 * This is the "straightforward" map of command set and command id to
+	 * handlers. This is useful for any commands which are guaranteed to be
+	 * issued to the device *AFTER* the device has successfully been added
+	 * to the DeviceManager's list of devices.
+	 *
+	 * I.e: it cannot be used for commands which are issued to the device before
+	 * getOrCreateDevice() has added the device to the DeviceManager's list of
+	 * devices.
+	 */
 	// Command handler map
 	std::unordered_map<
 		std::pair<uint8_t, uint8_t>,
 		std::function<void(
 			const uint8_t* data, ssize_t bytesReceived,
 			const struct sockaddr_in& senderAddr)>> udpCommandHandlers;
+
+public:
+	/**		EXPLANATION:
+	 * This is the "temporary" map of command set and command id to
+	 * handlers. This is useful for any commands which are issued to the device
+	 * while it is being constructed.
+	 *
+	 * I.e: it shouldn't be used for cmds which are issued to the device after
+	 * getOrCreateDevice() has added the device to the DeviceManager's list of
+	 * devices. It will work for such commands, but we'd kind of prefer to use
+	 * the "straightforward" map above for such commands.
+	 *
+	 *	NOTE:
+	 * There's a strong argument to be made for just getting rid of the
+	 * "straightforward" map above and just using this one, tho.
+	 */
+	struct CommandHandler {
+		uint8_t cmd_set;
+		uint8_t cmd_id;
+		std::function<void(
+			const uint8_t* data, ssize_t bytesReceived,
+			const struct sockaddr_in& senderAddr)> handler;
+	};
+	static std::unordered_map<std::string, std::vector<CommandHandler>>
+		devicesUnderConstruction;
 };
 
 } // namespace livoxProto1
diff --git a/commonLibs/livoxProto1/udpCommandDemuxer.h b/commonLibs/livoxProto1/udpCommandDemuxer.h
index 7da218c..078f407 100644
--- a/commonLibs/livoxProto1/udpCommandDemuxer.h
+++ b/commonLibs/livoxProto1/udpCommandDemuxer.h
@@ -20,6 +20,17 @@ namespace comms {
  * This class listens on the command port (65000) for incoming UDP datagrams
  * from Livox devices and routes them to the appropriate Device based on
  * the source IP address.
+ *
+ * The reason we need a whole class for this is because we use the same port
+ * numbers for all connected devices, so we have no way to distinguish between
+ * devices except based on the devices' IP addrs. Since all commands are sent
+ * over UDP, our sockets don't have built-in binding to a specific source IP.
+ *
+ * So we need to discriminate between source IPs manually, and demultiplex
+ * the dgrams received from different devices manually.
+ *
+ * We'll prolly also have to do the same thing for point cloud and IMU data, so
+ * we'll prolly end up renaming this class to UdpResponseDemuxer.
  */
 class UdpCommandDemuxer
 {