Update livoxGen1 stimbuffapi
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@@ -2,11 +2,20 @@
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## Overview
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The LivoxGen1Lidar DAP specification defines how to attach to Livox Gen1 LiDAR devices and access their various data streams using a unified stim-buff-api with mode-based parameter selection.
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The LivoxGen1Lidar DAP specification describes how to attach to Livox Gen1
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LiDAR devices and access their various data streams. The Livox Gen1 LiDAR
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presents multiple stim features, each with its own dedicated stim-buff-api.
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## Stim-Buff-API Structure
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The LivoxGen1Lidar DAP uses a unified stim-buff-api name `livoxGen1` with mode-based parameters to specify which data interface to present.
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The LivoxGen1Lidar DAP uses multiple stim-buff-api names, one for each stim feature it presents:
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* `livoxGen1-pcloud` - Point cloud coordinate data
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* `livoxGen1-pcloudIntensity` - Point cloud intensity/reflectivity data
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* `livoxGen1-gyro` - Gyroscope data from internal IMU
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* `livoxGen1-accel` - Accelerometer data from internal IMU
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Each stim-buff-api is designed to work with specific stim-iface libraries that understand the data format and processing requirements for that particular stim feature.
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## DAP Specifications
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@@ -16,21 +25,11 @@ The LivoxGen1Lidar DAP uses a unified stim-buff-api name `livoxGen1` with mode-b
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**Syntax**:
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```
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+idev | avia0 | structural-stimiface | livoxGen1(mode=pointCloudIntensity) | livoxProto1(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
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+idev | avia0 | pcloudIntensity | livoxGen1-pcloudIntensity(data-rate-hz=10) | livoxProto1(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
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```
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**Alternative Syntax** (all equivalent):
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```
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+idev | avia0 | structural-stimiface | livoxGen1(stim=pcloudIntensity) | livoxProto1(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
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+idev | avia0 | structural-stimiface | livoxGen1(affordance=pCloudI) | livoxProto1(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
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```
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**Mode Parameter Values** (synonymous):
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- `pointCloudIntensity`
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- `pcloudIntensity`
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- `pCloudIntensity`
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- `pCloudI`
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- `pcloudI`
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**Stim-Buff-API**: `livoxGen1-pcloudIntensity`
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**Quale-Iface-API**: `pcloudIntensity` - Processes intensity/reflectivity data from point clouds
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### 2. Point Cloud Coordinate Data Device (Extrospector)
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@@ -38,15 +37,21 @@ The LivoxGen1Lidar DAP uses a unified stim-buff-api name `livoxGen1` with mode-b
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**Syntax**:
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```
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+edev | avia0 | structural-stimiface | 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
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+edev | avia0 | pcloud(format=xyz) | livoxGen1-pcloud(data-rate-hz=10) | livoxProto1(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
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```
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**Mode Parameter Values** (synonymous):
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- `pcloud`
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- `pCloud`
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- `pointCloud`
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**Alternative Format Examples**:
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```
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+edev | avia0 | pcloud(format=spherical) | livoxGen1-pcloud(data-rate-hz=10) | livoxProto1(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
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+edev | avia0 | pcloud(format=spherical-cartesian) | livoxGen1-pcloud(data-rate-hz=10) | livoxProto1(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
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+edev | avia0 | pcloud(format=dual-cartesian) | livoxGen1-pcloud(data-rate-hz=10) | livoxProto1(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
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+edev | avia0 | pcloud(format=dual-spherical) | livoxGen1-pcloud(data-rate-hz=10) | livoxProto1(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
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```
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**Format Parameter** (for point cloud modes):
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**Stim-Buff-API**: `livoxGen1-pcloud`
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**Quale-Iface-API**: `pcloud` - Processes spatial coordinate data from point clouds
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**Format Parameter Values** (for pcloud quale-iface-api):
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- `xyz`: Standard Cartesian coordinates (X, Y, Z)
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- `spherical`: Raw spherical coordinates
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- `spherical-cartesian`: Spherical coordinates converted to Cartesian
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@@ -62,11 +67,11 @@ The LivoxGen1Lidar DAP uses a unified stim-buff-api name `livoxGen1` with mode-b
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**Syntax**:
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```
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+idev | avia0 | gyro-stimiface | livoxGen1(mode=gyro) | livoxProto1(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
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+idev | avia0 | gyro | livoxGen1-gyro(data-rate-hz=100) | livoxProto1(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
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```
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**Mode Parameter Values**:
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- `gyro`
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**Stim-Buff-API**: `livoxGen1-gyro`
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**Quale-Iface-API**: `gyro` - Processes gyroscope angular velocity data
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### 4. IMU Accelerometer Data Device (Interoceptor)
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@@ -74,11 +79,11 @@ The LivoxGen1Lidar DAP uses a unified stim-buff-api name `livoxGen1` with mode-b
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**Syntax**:
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```
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+idev | avia0 | accel-stimiface | livoxGen1(mode=accel) | livoxProto1(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
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+idev | avia0 | accel | livoxGen1-accel(data-rate-hz=100) | livoxProto1(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
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```
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**Mode Parameter Values**:
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- `accel`
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**Stim-Buff-API**: `livoxGen1-accel`
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**Quale-Iface-API**: `accel` - Processes accelerometer linear acceleration data
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## Provider Parameters
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@@ -124,16 +129,26 @@ The `livoxProto1` provider accepts the following parameters:
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## Parameter Summary
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### Mode/Stim/Affordance Parameter Values
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### Stim-Buff-API Names
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| Data Type | Mode Values | Description |
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|-----------|-------------|-------------|
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| Point Cloud Intensity | `pointCloudIntensity`, `pcloudIntensity`, `pCloudIntensity`, `pCloudI`, `pcloudI` | Light intensity/reflectivity data |
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| Point Cloud Coordinates | `pcloud`, `pCloud`, `pointCloud` | Spatial coordinate data |
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| Gyroscope | `gyro` | Angular velocity measurements |
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| Accelerometer | `accel` | Linear acceleration measurements |
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| Stim Feature | Stim-Buff-API | Quale-Iface-API | Description |
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|--------------|---------------|----------------|-------------|
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| Point Cloud Intensity | `livoxGen1-pcloudIntensity` | `pcloudIntensity` | Light intensity/reflectivity data |
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| Point Cloud Coordinates | `livoxGen1-pcloud` | `pcloud` | Spatial coordinate data |
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| Gyroscope | `livoxGen1-gyro` | `gyro` | Angular velocity measurements |
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| Accelerometer | `livoxGen1-accel` | `accel` | Linear acceleration measurements |
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### Format Parameter Values (for point cloud modes)
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### Stim-Buff-API Parameters
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Each stim-buff-api accepts device-specific parameters:
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| Parameter | Description | Example |
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|-----------|-------------|---------|
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| `data-rate-hz` | Data sampling rate in Hz | `data-rate-hz=10` |
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### Quale-Iface-API Parameters
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The `pcloud` quale-iface-api accepts format parameters:
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| Format | Description |
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|--------|-------------|
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