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PcloudStimProd: ambienceHighVal is now a negtrin threshold

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Hayodea Hekol
2025-11-26 03:39:39 -04:00
parent e5782b0af7
commit 49191b3a15
2 changed files with 7 additions and 16 deletions
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docs/livox-gen1-lidar-dap-spec.md
+1 -12
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@@ -37,20 +37,12 @@ Each stim-buff-api is designed to work with specific stim-iface libraries that u
**Syntax**:
```
+idev | avia0 | pcloudAmbience | livoxGen1-pcloud(high-val=120) | livoxProto1(command-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
+idev | avia0 | pcloudAmbience | livoxGen1-pcloud() | livoxProto1(command-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
```
**Stim-Buff-API**: `livoxGen1-pcloud`
**Quale-Iface-API**: `pcloudAmbience` - Counts points with intensity >= threshold per slot
**Ambience High Value Parameter** (for pcloudAmbience quale-iface-api):
- **Parameter names**: `high-value` or `high-val` (synonyms)
- **Purpose**: Threshold value for counting high-intensity points in the ambience buffer
- **Default value**: 116
- **Usage**: Points with intensity >= `ambienceHighVal` are counted in the ambience buffer per slot
- **Configuration**: Specified in `stim-buff-api-params` when using `pcloudAmbience` quale interface
- **Example**: `high-val=120` or `high-value=120`
**Postrin Support** (for pcloudAmbience quale-iface-api):
The `pcloudAmbience` quale-iface-api can supply postrins (positive intrinsic
stimuli). The default threshold values for postrin importance levels are:
@@ -181,7 +173,6 @@ Each stim-buff-api accepts device-specific parameters:
|-----------|-------------|---------|---------|
| `data-rate-hz` | Data sampling rate in Hz | - | `data-rate-hz=10` |
| `n-dgrams-per-frame` / `num-dgrams-per-frame` | Number of UDP datagrams per staging buffer frame | 84 | `n-dgrams-per-frame=84` or `num-dgrams-per-frame=84` |
| `high-value` / `high-val` | Threshold for counting high-intensity points in ambience buffer (for `pcloudAmbience` quale-iface-api) | 116 | `high-val=120` or `high-value=120` |
### Quale-Iface-API Parameters
@@ -195,8 +186,6 @@ The `pcloud` quale-iface-api accepts format parameters:
| `dual-cartesian` | Dual Cartesian coordinate system |
| `dual-spherical` | Dual spherical coordinate system |
The `pcloudAmbience` quale-iface-api uses the `high-value` / `high-val` parameter (documented in Stim-Buff-API Parameters above) to determine the intensity threshold for counting high-intensity points per slot.
## Device Discovery and Connection
The specification uses a retry-based connection strategy with two different approaches:
stimBuffApis/livoxGen1/pcloudStimulusProducer.cpp
+6 -4
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@@ -308,14 +308,16 @@ std::cout << __func__ << ": $$$$$$$ Created PcloudIntensityStimulusBuffer" << st
}
else if (qualeIfaceApi == "pcloudAmbience")
{
// Parse ambienceHighVal from stimBuffApiParams
// Parse ambienceHighVal from qualeIfaceApiParams (temporary, undocumented)
const std::vector<std::string> ambienceHighValParamNames = {
"high-value",
"high-val"
"negtrin-intolerable-threshold",
"negtrin-intolerable",
"intolerable-threshold",
"intolerable"
};
int ambienceHighValInt = device::DeviceAttachmentSpec
::parseOptionalParamAsIntWithSynonyms(
deviceAttachmentSpec->stimBuffApiParams,
deviceAttachmentSpec->qualeIfaceApiParams,
ambienceHighValParamNames, 116);
uint32_t ambienceHighVal = static_cast<uint32_t>(ambienceHighValInt);