livox: rename handshakeTimeoutMs=>commandTimeoutMs

commonLibs/livoxProto1/core.cpp

@@ -129,7 +129,7 @@ public:
 void DeviceManager::getOrCreateDeviceReq(
 	const std::string &deviceIdentifier,
 	const std::shared_ptr<smo::ComponentThread>& componentThread,
-	int handshakeTimeoutMs, int retryDelayMs,
+	int commandTimeoutMs, int retryDelayMs,
 	const std::string& smoIp, uint8_t smoSubnetNbits,
 	uint16_t dataPort, uint16_t cmdPort, uint16_t imuPort,
 	smo::Callback<livoxProto1_getOrCreateDeviceReqCbFn> callback)
@@ -163,7 +163,7 @@ void DeviceManager::getOrCreateDeviceReq(
 	// Device doesn't exist, create a new one but don't add it to collection yet
 	auto newDevice = std::make_shared<Device>(
 		deviceIdentifier, componentThread,
-		handshakeTimeoutMs, retryDelayMs,
+		commandTimeoutMs, retryDelayMs,
 		smoIp, smoSubnetNbits,
 		dataPort, cmdPort, imuPort);
 

commonLibs/livoxProto1/core.h

@@ -26,7 +26,7 @@ public:
 	void getOrCreateDeviceReq(
 		const std::string &deviceIdentifier,
 		const std::shared_ptr<smo::ComponentThread>& componentThread,
-		int handshakeTimeoutMs, int retryDelayMs,
+		int commandTimeoutMs, int retryDelayMs,
 		const std::string& smoIp, uint8_t smoSubnetNbits,
 		uint16_t dataPort, uint16_t cmdPort, uint16_t imuPort,
 		smo::Callback<livoxProto1_getOrCreateDeviceReqCbFn> callback);

commonLibs/livoxProto1/device.cpp

@@ -90,7 +90,7 @@ std::string DiscoveredDevice::getDeviceTypeName(void) const
 
 Device::Device(const std::string &deviceIdentifier,
 	const std::shared_ptr<smo::ComponentThread>& componentThread,
-	int handshakeTimeoutMs, int retryDelayMs,
+	int commandTimeoutMs, int retryDelayMs,
 	const std::string& smoIp, uint8_t smoSubnetNbits,
 	uint16_t dataPort, uint16_t cmdPort, uint16_t imuPort)
 : discoveredDevice(
@@ -99,7 +99,7 @@ Device::Device(const std::string &deviceIdentifier,
 	""),
 nAttachedStimBuffs(0),
 componentThread(componentThread),
-handshakeTimeoutMs(handshakeTimeoutMs), retryDelayMs(retryDelayMs),
+commandTimeoutMs(commandTimeoutMs), retryDelayMs(retryDelayMs),
 smoIp(smoIp), detectedSmoListeningIp(""), smoSubnetNbits(smoSubnetNbits),
 dataPort(dataPort), cmdPort(cmdPort), imuPort(imuPort),
 heartbeatActive(false),
@@ -572,7 +572,7 @@ private:
 		 * we will consider the handshake to have failed.
 		 */
 		timeoutTimer.expires_from_now(
-			boost::posix_time::milliseconds(device.handshakeTimeoutMs));
+			boost::posix_time::milliseconds(device.commandTimeoutMs));
 
 		timeoutTimer.async_wait(
 			std::bind(
@@ -651,7 +651,7 @@ private:
 		if (finalTimerFired
 			&& finalSocketState == SocketState::SOCKET_STILL_WAITING)
 		{
-			std::cerr << __func__ << ": Handshake timeout with "
+			std::cerr << __func__ << ": Command timeout with "
 				<< deviceIP << "(" << device.discoveredDevice.deviceIdentifier
 				<< ")" << std::endl;
 
@@ -1389,7 +1389,7 @@ protected:
 	{
 		// Setup timeout timer
 		timeoutTimer.expires_from_now(
-			boost::posix_time::milliseconds(device.handshakeTimeoutMs));
+			boost::posix_time::milliseconds(device.commandTimeoutMs));
 
 		timeoutTimer.async_wait(
 			std::bind(
@@ -1998,7 +1998,7 @@ public:
 	{
 		// Set up timeout timer
 		timeoutTimer.expires_from_now(boost::posix_time::milliseconds(
-			device.handshakeTimeoutMs));
+			device.commandTimeoutMs));
 		timeoutTimer.async_wait(
 			std::bind(&SetReturnModeReq::setReturnModeReq1_1,
 				this, request,
@@ -2245,7 +2245,7 @@ public:
 	{
 		// Set up timeout timer
 		timeoutTimer.expires_from_now(boost::posix_time::milliseconds(
-			device.handshakeTimeoutMs));
+			device.commandTimeoutMs));
 
 		timeoutTimer.async_wait(
 			std::bind(&GetReturnModeReq::getReturnModeReq1_1,

commonLibs/livoxProto1/device.h

@@ -74,7 +74,7 @@ class Device
 public:
 	Device(const std::string &deviceIdentifier,
 		const std::shared_ptr<smo::ComponentThread>& componentThread,
-		int handshakeTimeoutMs, int retryDelayMs,
+		int commandTimeoutMs, int retryDelayMs,
 		const std::string& smoIp, uint8_t smoSubnetNbits,
 		uint16_t dataPort, uint16_t cmdPort, uint16_t imuPort);
 	~Device();
@@ -152,7 +152,7 @@ public:
 
 	// Configuration
 	std::shared_ptr<smo::ComponentThread> componentThread;
-	int handshakeTimeoutMs, retryDelayMs;
+	int commandTimeoutMs, retryDelayMs;
 	std::string smoIp;
 	std::string detectedSmoListeningIp;
 	uint8_t smoSubnetNbits;

commonLibs/livoxProto1/livoxProto1.cpp

@@ -10,7 +10,7 @@ extern "C" {
 void livoxProto1_getOrCreateDeviceReq(
 	const std::string& deviceIdentifier,
 	const std::shared_ptr<smo::ComponentThread>& componentThread,
-	int handshakeTimeoutMs, int retryDelayMs,
+	int commandTimeoutMs, int retryDelayMs,
 	const std::string& smoIp, uint8_t smoSubnetNbits,
 	uint16_t dataPort, uint16_t cmdPort, uint16_t imuPort,
 	smo::Callback<livoxProto1_getOrCreateDeviceReqCbFn> callback
@@ -28,7 +28,7 @@ void livoxProto1_getOrCreateDeviceReq(
 	// Delegate to DeviceManager
 	protoState.deviceManager->getOrCreateDeviceReq(
 		deviceIdentifier, componentThread,
-		handshakeTimeoutMs, retryDelayMs,
+		commandTimeoutMs, retryDelayMs,
 		smoIp, smoSubnetNbits,
 		dataPort, cmdPort, imuPort,
 		callback);

commonLibs/livoxProto1/livoxProto1.h

@@ -41,7 +41,7 @@ typedef void livoxProto1_exitFn(void);
  * Create a new Livox device connection
  * @param deviceIdentifier The device identifier (broadcast code)
  * @param componentThread Component thread for async operations
- * @param handshakeTimeoutMs Handshake timeout in milliseconds (default: 1000)
+ * @param commandTimeoutMs Command timeout in milliseconds (default: 1000)
  * @param retryDelayMs Retry delay in milliseconds (default: 3000)
  * @param smoIp SMO IP address (empty string for auto-detection)
  * @param smoSubnetNbits SMO subnet mask bits (e.g., 24 for /24, 16 for /16)
@@ -57,7 +57,7 @@ typedef std::function<
 typedef void livoxProto1_getOrCreateDeviceReqFn(
 	const std::string& deviceIdentifier,
 	const std::shared_ptr<smo::ComponentThread>& componentThread,
-	int handshakeTimeoutMs, int retryDelayMs,
+	int commandTimeoutMs, int retryDelayMs,
 	const std::string& smoIp, uint8_t smoSubnetNbits,
 	uint16_t dataPort,  uint16_t cmdPort, uint16_t imuPort,
 	smo::Callback<livoxProto1_getOrCreateDeviceReqCbFn> callback);

docs/livox-gen1-lidar-dap-spec.md

@@ -25,7 +25,7 @@ Each stim-buff-api is designed to work with specific stim-iface libraries that u
 
 **Syntax**:
 ```
-+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
++idev | avia0 | pcloudIntensity | livoxGen1-pcloudIntensity(data-rate-hz=10) | livoxProto1(command-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
 ```
 
 **Stim-Buff-API**: `livoxGen1-pcloudIntensity`
@@ -37,15 +37,15 @@ Each stim-buff-api is designed to work with specific stim-iface libraries that u
 
 **Syntax**:
 ```
-+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
++edev | avia0 | pcloud(format=xyz) | livoxGen1-pcloud(data-rate-hz=10) | livoxProto1(command-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
 ```
 
 **Alternative Format Examples**:
 ```
-+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
++edev | avia0 | pcloud(format=spherical) | livoxGen1-pcloud(data-rate-hz=10) | livoxProto1(command-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
-+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
++edev | avia0 | pcloud(format=spherical-cartesian) | livoxGen1-pcloud(data-rate-hz=10) | livoxProto1(command-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
-+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
++edev | avia0 | pcloud(format=dual-cartesian) | livoxGen1-pcloud(data-rate-hz=10) | livoxProto1(command-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
-+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
++edev | avia0 | pcloud(format=dual-spherical) | livoxGen1-pcloud(data-rate-hz=10) | 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`
@@ -67,7 +67,7 @@ Each stim-buff-api is designed to work with specific stim-iface libraries that u
 
 **Syntax**:
 ```
-+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
++idev | avia0 | gyro | livoxGen1-gyro(data-rate-hz=100) | livoxProto1(command-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
 ```
 
 **Stim-Buff-API**: `livoxGen1-gyro`
@@ -79,7 +79,7 @@ Each stim-buff-api is designed to work with specific stim-iface libraries that u
 
 **Syntax**:
 ```
-+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
++idev | avia0 | accel | livoxGen1-accel(data-rate-hz=100) | livoxProto1(command-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
 ```
 
 **Stim-Buff-API**: `livoxGen1-accel`
@@ -91,10 +91,10 @@ Each stim-buff-api is designed to work with specific stim-iface libraries that u
 
 The `livoxProto1` provider accepts the following parameters:
 
-**handshake-timeout-ms** (optional):
+**command-timeout-ms** / **cmd-timeout-ms** (optional, synonyms):
-- Specifies the timeout for handshake operations when connecting to devices
+- Specifies the timeout for command operations when communicating with devices
 - Value: Integer number of milliseconds
-- Example: `handshake-timeout-ms=1000` (1 second timeout)
+- Example: `command-timeout-ms=1000` or `cmd-timeout-ms=1000` (1 second timeout)
 - Default: 1000ms if not specified
 
 **retry-delay-ms** (optional):

stimBuffApis/livoxGen1/livoxGen1.cpp

@@ -554,9 +554,9 @@ extern "C" void livoxGen1_attachDeviceReq(
 	 */
 
 	/* The Livox Avia will generally respond to a handshake request within
-	 * 50ms. So we set the handshake timeout to 300ms to be safe.
+	 * 5ms.
 	 */
-	int handshakeTimeoutMs = 5;		// Default: 5ms
+	int commandTimeoutMs = 5;		// Default: 5ms
 	/* Based on testing on a Livox Avia, the device will generally resume
 	 * sending broadcast advertisement dgrams after about 5 seconds at most.
 	 * Generally, it will resume sending them within 1-2 seconds.
@@ -572,11 +572,16 @@ extern "C" void livoxGen1_attachDeviceReq(
 	// Parse optional integer parameters from provider params
 	for (const auto& param : desc->providerParams)
 	{
-		if (param.first == "handshake-timeout-ms")
+		if (param.first == "cmd-timeout-ms")
 		{
-			handshakeTimeoutMs = smo::device::DeviceAttachmentSpec
+			commandTimeoutMs = smo::device::DeviceAttachmentSpec
 				::parseRequiredParamAsInt(
-					desc->providerParams, "handshake-timeout-ms");
+					desc->providerParams, "cmd-timeout-ms");
+		} else if (param.first == "command-timeout-ms")
+		{
+			commandTimeoutMs = smo::device::DeviceAttachmentSpec
+				::parseRequiredParamAsInt(
+					desc->providerParams, "command-timeout-ms");
 		} else if (param.first == "retry-delay-ms")
 		{
 			retryDelayMs = smo::device::DeviceAttachmentSpec
@@ -630,7 +635,7 @@ extern "C" void livoxGen1_attachDeviceReq(
 	(*livoxProto1.livoxProto1_getOrCreateDeviceReq)(
 		desc->deviceSelector,  // deviceIdentifier (broadcast code)
 		componentThread,
-		handshakeTimeoutMs, retryDelayMs,
+		commandTimeoutMs, retryDelayMs,
 		smoIp, smoSubnetNbits,
 		dataPort, cmdPort, imuPort,
 		{request, std::bind(