229 lines
9.0 KiB
Markdown
229 lines
9.0 KiB
Markdown
# LivoxGen1Lidar Device Attachment Pipeline (DAP) Specification
|
|
|
|
## Overview
|
|
|
|
The LivoxGen1Lidar DAP specification describes how to attach to Livox Gen1
|
|
LiDAR devices and access their various data streams. The Livox Gen1 LiDAR
|
|
presents multiple stim features, each with its own dedicated stim-buff-api.
|
|
|
|
## Stim-Buff-API Structure
|
|
|
|
The LivoxGen1Lidar DAP uses multiple stim-buff-api names, one for each stim feature it presents:
|
|
|
|
* `livoxGen1-pcloud` - Point cloud coordinate data
|
|
* `livoxGen1-pcloudIntensity` - Point cloud intensity/reflectivity data
|
|
* `livoxGen1-gyro` - Gyroscope data from internal IMU
|
|
* `livoxGen1-accel` - Accelerometer data from internal IMU
|
|
|
|
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.
|
|
|
|
## DAP Specifications
|
|
|
|
### 1. Point Cloud Intensity Data Device (Interoceptor)
|
|
|
|
**Purpose**: Provides light intensity/reflectivity data from the LiDAR point cloud.
|
|
|
|
**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
|
|
```
|
|
|
|
**Stim-Buff-API**: `livoxGen1-pcloudIntensity`
|
|
**Quale-Iface-API**: `pcloudIntensity` - Processes intensity/reflectivity data from point clouds
|
|
|
|
### 2. Point Cloud Coordinate Data Device (Extrospector)
|
|
|
|
**Purpose**: Provides spatial coordinate data from the LiDAR point cloud.
|
|
|
|
**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
|
|
```
|
|
|
|
**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-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(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(handshake-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**: `pcloud` - Processes spatial coordinate data from point clouds
|
|
|
|
**Format Parameter Values** (for pcloud quale-iface-api):
|
|
- `xyz`: Standard Cartesian coordinates (X, Y, Z)
|
|
- `spherical`: Raw spherical coordinates
|
|
- `spherical-cartesian`: Spherical coordinates converted to Cartesian
|
|
- `dual-cartesian`: Dual Cartesian coordinate system
|
|
- `dual-spherical`: Dual spherical coordinate system
|
|
|
|
**Alternative Format Parameter Names** (synonymous):
|
|
- `format` or `fmt`
|
|
|
|
### 3. IMU Gyroscope Data Device (Interoceptor)
|
|
|
|
**Purpose**: Provides gyroscope data from the LiDAR's internal IMU.
|
|
|
|
**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
|
|
```
|
|
|
|
**Stim-Buff-API**: `livoxGen1-gyro`
|
|
**Quale-Iface-API**: `gyro` - Processes gyroscope angular velocity data
|
|
|
|
### 4. IMU Accelerometer Data Device (Interoceptor)
|
|
|
|
**Purpose**: Provides accelerometer data from the LiDAR's internal IMU.
|
|
|
|
**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
|
|
```
|
|
|
|
**Stim-Buff-API**: `livoxGen1-accel`
|
|
**Quale-Iface-API**: `accel` - Processes accelerometer linear acceleration data
|
|
|
|
## Provider Parameters
|
|
|
|
### livoxProto1 Provider
|
|
|
|
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
|
|
- Example: `data-port=56000`
|
|
- Default: 56000 if not specified
|
|
|
|
**cmd-port** (optional):
|
|
- Specifies the UDP port for receiving command responses from the device
|
|
- Value: Integer port number
|
|
- Example: `cmd-port=56001`
|
|
- Default: 56001 if not specified
|
|
|
|
**imu-port** (optional):
|
|
- Specifies the UDP port for receiving IMU data from the device
|
|
- Value: Integer port number
|
|
- Example: `imu-port=56002`
|
|
- Default: 56002 if not specified
|
|
|
|
## Parameter Summary
|
|
|
|
### Stim-Buff-API Names
|
|
|
|
| Stim Feature | Stim-Buff-API | Quale-Iface-API | Description |
|
|
|--------------|---------------|----------------|-------------|
|
|
| Point Cloud Intensity | `livoxGen1-pcloudIntensity` | `pcloudIntensity` | Light intensity/reflectivity data |
|
|
| Point Cloud Coordinates | `livoxGen1-pcloud` | `pcloud` | Spatial coordinate data |
|
|
| Gyroscope | `livoxGen1-gyro` | `gyro` | Angular velocity measurements |
|
|
| Accelerometer | `livoxGen1-accel` | `accel` | Linear acceleration measurements |
|
|
|
|
### Stim-Buff-API Parameters
|
|
|
|
Each stim-buff-api accepts device-specific parameters:
|
|
|
|
| Parameter | Description | Example |
|
|
|-----------|-------------|---------|
|
|
| `data-rate-hz` | Data sampling rate in Hz | `data-rate-hz=10` |
|
|
|
|
### Quale-Iface-API Parameters
|
|
|
|
The `pcloud` quale-iface-api accepts format parameters:
|
|
|
|
| Format | Description |
|
|
|--------|-------------|
|
|
| `xyz` | Standard Cartesian coordinates (X, Y, Z) |
|
|
| `spherical` | Raw spherical coordinates (range, azimuth, elevation) |
|
|
| `spherical-cartesian` | Spherical coordinates converted to Cartesian |
|
|
| `dual-cartesian` | Dual Cartesian coordinate system |
|
|
| `dual-spherical` | Dual spherical coordinate system |
|
|
|
|
## Device Discovery and Connection
|
|
|
|
The specification uses a retry-based connection strategy with two different approaches:
|
|
|
|
### Connection Methods
|
|
|
|
**1. Broadcast-Based Connection (connectToKnownDeviceReq)**
|
|
- Uses device IP addresses discovered from broadcast advertisements
|
|
- **smo-ip parameter**: Optional - if omitted, driver auto-detects the appropriate interface
|
|
- **smo-subnet-nbits parameter**: Optional - used for validation if smo-ip is provided
|
|
- **When to use**: When devices are actively broadcasting their presence
|
|
|
|
**2. Heuristic Connection (connectByDeviceIdentifierReq)**
|
|
- Generates device IP addresses from serial numbers using network prefix
|
|
- **smo-ip parameter**: **Required** - needed to determine network prefix for IP generation
|
|
- **smo-subnet-nbits parameter**: **Required** - needed to calculate valid device IP addresses
|
|
- **When to use**: When devices are not broadcasting or for initial setup
|
|
|
|
### Connection Strategy
|
|
|
|
1. **Initial Check**: Check if device is already known from broadcasts
|
|
2. **Direct Connect**: Attempt direct connection based on calculated IP address
|
|
3. **Retry Wait**: If direct connect fails, wait for `retry-delay-ms` for broadcast messages
|
|
4. **Final Check**: Check known devices again after retry delay
|
|
5. **Report Result**: Success or failure based on final check
|
|
|
|
## Data Formats
|
|
|
|
### Point Cloud Coordinate Formats
|
|
|
|
1. **XYZ Format**: Standard 3D Cartesian coordinates
|
|
- X, Y, Z in meters
|
|
- Standard coordinate system orientation
|
|
|
|
2. **Spherical Format**: Raw spherical coordinates
|
|
- Range (distance) in meters
|
|
- Azimuth angle in degrees/radians
|
|
- Elevation angle in degrees/radians
|
|
|
|
3. **Spherical-Cartesian Format**: Spherical coordinates converted to Cartesian
|
|
- Range, azimuth, elevation converted to X, Y, Z
|
|
- Maintains spherical measurement precision
|
|
|
|
4. **Dual Formats**: Support for dual-coordinate systems
|
|
- Useful for devices with multiple measurement modes
|
|
- Provides redundancy and validation capabilities
|
|
|
|
### Intensity Data
|
|
|
|
- Reflectivity values typically in the range 0-255
|
|
- Normalized intensity measurements
|
|
- Calibrated for material reflectivity analysis
|
|
|
|
### IMU Data
|
|
|
|
- **Gyroscope**: Angular velocity measurements (rad/s)
|
|
- **Accelerometer**: Linear acceleration measurements (m/s²)
|
|
- Timestamped data synchronized with point cloud measurements
|
|
|
|
## Error Handling
|
|
|
|
The specification includes comprehensive error handling for:
|
|
|
|
- Network connectivity issues
|
|
- Device communication timeouts
|
|
- Invalid coordinate format requests
|
|
- IMU data stream interruptions
|
|
- Device discovery failures
|
|
- Connection retry timeouts |