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Update docs on DAP specs and DA specs

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Hayodea Hekol
2025-10-01 13:27:32 -04:00
parent c7ca889e9c
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docs/livox-gen1-lidar-dap-spec.md
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# LivoxGen1Lidar Device Attachment Protocol (DAP) Specification
# LivoxGen1Lidar Device Attachment Pipeline (DAP) Specification
## Overview
The LivoxGen1Lidar DAP specification defines how to attach to Livox Gen1 LiDAR devices and access their various data streams using a unified API with mode-based parameter selection.
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.
## API Structure
## Stim-Buff-API Structure
The LivoxGen1Lidar DAP uses a unified API name `livoxGen1` with mode-based parameters to specify which data interface to present.
The LivoxGen1Lidar DAP uses a unified stim-buff-api name `livoxGen1` with mode-based parameters to specify which data interface to present.
## Device Attachment Specifications
## DAP Specifications
### 1. Point Cloud Intensity Data Device (Interoceptor)
@@ -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(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
+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
```
**Alternative Syntax** (all equivalent):
```
+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
+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
+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
```
**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(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
+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
```
**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(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
+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
```
**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(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
+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
```
**Mode Parameter Values**: