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LivoxProto1: Implemented Device and getOrCreateDevice

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Includes everything from sending heartbeat msgs to performing
the connection handshake. We also accept many params to
provider-params to customize and make things easier.
This commit is contained in:
Hayodea Hekol
2025-09-06 20:06:38 -04:00
parent 25234c4229
commit a0d577bf81
18 changed files with 1906 additions and 403 deletions
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docs/livox-gen1-lidar-dap-spec.md
+18 -6
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@@ -16,13 +16,13 @@ The LivoxGen1Lidar DAP uses a unified API name `livoxGen1` with mode-based param
**Syntax**:
```
+idev | avia0 | structural-implexor | livoxGen1(mode=pointCloudIntensity) | livoxProto1(retry-delay-ms=3000) | 3JEDK380010Z39
+idev | avia0 | structural-implexor | livoxGen1(mode=pointCloudIntensity) | livoxProto1(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
```
**Alternative Syntax** (all equivalent):
```
+idev | avia0 | structural-implexor | livoxGen1(stim=pcloudIntensity) | livoxProto1(retry-delay-ms=3000) | 3JEDK380010Z39
+idev | avia0 | structural-implexor | livoxGen1(affordance=pCloudI) | livoxProto1(retry-delay-ms=3000) | 3JEDK380010Z39
+idev | avia0 | structural-implexor | livoxGen1(stim=pcloudIntensity) | livoxProto1(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
+idev | avia0 | structural-implexor | livoxGen1(affordance=pCloudI) | livoxProto1(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
```
**Mode Parameter Values** (synonymous):
@@ -38,7 +38,7 @@ The LivoxGen1Lidar DAP uses a unified API name `livoxGen1` with mode-based param
**Syntax**:
```
+edev | avia0 | structural-implexor | livoxGen1(mode=pcloud,format=xyz) | livoxProto1(retry-delay-ms=3000) | 3JEDK380010Z39
+edev | avia0 | structural-implexor | livoxGen1(mode=pcloud,format=xyz) | livoxProto1(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
```
**Mode Parameter Values** (synonymous):
@@ -62,7 +62,7 @@ The LivoxGen1Lidar DAP uses a unified API name `livoxGen1` with mode-based param
**Syntax**:
```
+idev | avia0 | gyro-implexor | livoxGen1(mode=gyro) | livoxProto1(retry-delay-ms=3000) | 3JEDK380010Z39
+idev | avia0 | gyro-implexor | livoxGen1(mode=gyro) | livoxProto1(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
```
**Mode Parameter Values**:
@@ -74,7 +74,7 @@ The LivoxGen1Lidar DAP uses a unified API name `livoxGen1` with mode-based param
**Syntax**:
```
+idev | avia0 | accel-implexor | livoxGen1(mode=accel) | livoxProto1(retry-delay-ms=3000) | 3JEDK380010Z39
+idev | avia0 | accel-implexor | livoxGen1(mode=accel) | livoxProto1(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
```
**Mode Parameter Values**:
@@ -86,12 +86,24 @@ The LivoxGen1Lidar DAP uses a unified API name `livoxGen1` with mode-based param
The `livoxProto1` provider accepts the following parameters:
**handshake-timeout-ms** (optional):
- Specifies the timeout for handshake operations when connecting to devices
- Value: Integer number of milliseconds
- Example: `handshake-timeout-ms=1000` (1 second timeout)
- Default: 1000ms if not specified
**retry-delay-ms** (optional):
- Specifies how long to wait for broadcast messages to arrive after attempting an initial direct connection
- Value: Integer number of milliseconds
- Example: `retry-delay-ms=3000` (wait 3 seconds)
- Default: 3000ms if not specified
**subnet** (optional):
- Specifies the IP subnet for device IP address calculation
- Value: IP address in the form X.X.0.0 where non-subnet bits must be 0
- Example: `subnet=10.42.0.0` (use 10.42.x.x subnet)
- Default: 0.0.0.0 (use default 192.168.1.x subnet)
**data-port** (optional):
- Specifies the UDP port for receiving point cloud data from the device
- Value: Integer port number