From 65a05339de24c4f0a6dbea847e5906245d173ff3 Mon Sep 17 00:00:00 2001
From: joreg <joreg@vvvv.org>
Date: Mon, 7 Oct 2024 10:57:01 +0200
Subject: [PATCH] added GetHealth

---
 VL.Devices.RPLidar.vl                | 247 +++++++++++----------------
 deployment/VL.Devices.RPLidar.nuspec |   2 +-
 help/Explanation Overview.vl         |  25 ++-
 3 files changed, 124 insertions(+), 150 deletions(-)

diff --git a/VL.Devices.RPLidar.vl b/VL.Devices.RPLidar.vl
index eff44c4..201e4c1 100644
--- a/VL.Devices.RPLidar.vl
+++ b/VL.Devices.RPLidar.vl
@@ -15,7 +15,7 @@
         </p:NodeReference>
         <Patch Id="Etukncv7DHxNCpFUGw3A1g">
           <Canvas Id="StWIAZzgqOsNYTDQJoEDDg" CanvasType="Group">
-            <Node Bounds="366,73,382,668" Id="KdnROBixCoaNa6usNDyvD4">
+            <Node Bounds="366,52,382,689" Id="KdnROBixCoaNa6usNDyvD4">
               <p:NodeReference LastCategoryFullName="Primitive" LastDependency="Builtin">
                 <Choice Kind="StatefulRegion" Name="Region (Stateful)" Fixed="true" />
                 <CategoryReference Kind="Category" Name="Primitive" />
@@ -81,7 +81,7 @@
                     </Node>
                   </Patch>
                 </Node>
-                <Node Bounds="463,133,80,26" Id="MadO73pN0GAPV33mMRy2N1">
+                <Node Bounds="512,102,80,26" Id="MadO73pN0GAPV33mMRy2N1">
                   <p:NodeReference LastCategoryFullName="Reactive.Disposables.SerialDisposable" LastDependency="VL.CoreLib.vl">
                     <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
                     <CategoryReference Kind="ClassType" Name="SerialDisposable" NeedsToBeDirectParent="true" />
@@ -91,14 +91,14 @@
                   <Pin Id="JCRjay1075dMOkZZvmtjCt" Name="Value" Kind="InputPin" />
                   <Pin Id="T0QvwmtyjoTNytITtmaZ3s" Name="Output" Kind="StateOutputPin" />
                 </Node>
-                <Node Bounds="538,100,40,19" Id="TOIRqH4L0qIOIgNM9MPbu2">
+                <Node Bounds="606,75,40,19" Id="TOIRqH4L0qIOIgNM9MPbu2">
                   <p:NodeReference LastCategoryFullName="Primitive.Object" LastDependency="VL.CoreLib.vl">
                     <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
                     <Choice Kind="OperationCallFlag" Name="NULL" />
                   </p:NodeReference>
                   <Pin Id="RlqKvLtW59aOeJHOGh5933" Name="Result" Kind="OutputPin" />
                 </Node>
-                <Node Bounds="389,179,125,240" Id="EXF53NCdCKCOdDxBGuBgi6">
+                <Node Bounds="389,141,146,272" Id="EXF53NCdCKCOdDxBGuBgi6">
                   <p:NodeReference LastCategoryFullName="Primitive" LastDependency="Builtin">
                     <Choice Kind="StatefulRegion" Name="Region (Stateful)" Fixed="true" />
                     <CategoryReference Kind="Category" Name="Primitive" />
@@ -130,7 +130,7 @@
                       <Pin Id="Jo9EJ62HuFuPBmgQGdAdjr" Name="Input" Kind="StateInputPin" />
                       <Pin Id="SOZZsbG0nHhMd1HBnjuZIZ" Name="Output" Kind="StateOutputPin" />
                     </Node>
-                    <Node Bounds="408,353,86,26" Id="RQEI61J7EO9ONqWyO0Uiaa">
+                    <Node Bounds="437,354,86,26" Id="RQEI61J7EO9ONqWyO0Uiaa">
                       <p:NodeReference LastCategoryFullName="RPLidar4Net.IO.RPLidarSerialDevice" LastDependency="RPLidar4Net.IO.dll">
                         <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
                         <Choice Kind="OperationCallFlag" Name="NewScan" />
@@ -149,17 +149,24 @@
                       <Pin Id="HnN5vzDEWtXNfY6wtIfKW5" Name="Output" Kind="OutputPin" />
                       <Pin Id="IAD6GKBcXvUPqQbAxY4Qlk" Name="Info" Kind="OutputPin" />
                     </Node>
+                    <Node Bounds="403,164,67,26" Id="EQJF0TtfjXvMI9xPRKqP0b">
+                      <p:NodeReference LastCategoryFullName="Primitive.DynamicEnum" LastDependency="VL.CoreLib.vl">
+                        <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
+                        <FullNameCategoryReference ID="Primitive.DynamicEnum" />
+                        <Choice Kind="OperationCallFlag" Name="Value" />
+                      </p:NodeReference>
+                      <Pin Id="Tsf2hH2MDxEO9qowqDNTdc" Name="Input" Kind="StateInputPin" />
+                      <Pin Id="HTfAlYBotGNN6SnlKAXN60" Name="Value" Kind="OutputPin" />
+                    </Node>
                   </Patch>
-                  <ControlPoint Id="EH8AiIIUV8FOghvPnRX73F" Bounds="467,185" Alignment="Top" />
-                  <ControlPoint Id="S1qB8b9T6hMNUEqVP208jO" Bounds="497,413" Alignment="Bottom" />
-                  <ControlPoint Id="OxP88YpMBhVMvUjySEa5Zz" Bounds="403,413" Alignment="Bottom" />
-                  <ControlPoint Id="SFbLRpliLNbOLdTL3BBfqt" Bounds="409,185" Alignment="Top" />
-                  <ControlPoint Id="L969bzSFjUNOCuaXOwGCb0" Bounds="472,413" Alignment="Bottom" />
-                  <ControlPoint Id="QYkWEhlOaAhN9ULIKiKrUJ" Bounds="446,185" Alignment="Top" />
-                  <ControlPoint Id="IAshIjSsuC2NZpTIbia3eS" Bounds="437,413" Alignment="Bottom" />
-                  <ControlPoint Id="EDgHe1mO9c9LLpBDWaF2l7" Bounds="432,185" Alignment="Top" />
-                  <ControlPoint Id="Oo0ShZ5ofiZOwXBJTiQ3u2" Bounds="448,413" Alignment="Bottom" />
-                  <ControlPoint Id="HIyjCMapFaQM3d4xxJHeoC" Bounds="462,185" Alignment="Top" />
+                  <ControlPoint Id="EH8AiIIUV8FOghvPnRX73F" Bounds="513,147" Alignment="Top" />
+                  <ControlPoint Id="S1qB8b9T6hMNUEqVP208jO" Bounds="512,407" Alignment="Bottom" />
+                  <ControlPoint Id="OxP88YpMBhVMvUjySEa5Zz" Bounds="403,407" Alignment="Bottom" />
+                  <ControlPoint Id="SFbLRpliLNbOLdTL3BBfqt" Bounds="409,147" Alignment="Top" />
+                  <ControlPoint Id="IAshIjSsuC2NZpTIbia3eS" Bounds="437,407" Alignment="Bottom" />
+                  <ControlPoint Id="EDgHe1mO9c9LLpBDWaF2l7" Bounds="432,147" Alignment="Top" />
+                  <ControlPoint Id="Oo0ShZ5ofiZOwXBJTiQ3u2" Bounds="460,407" Alignment="Bottom" />
+                  <ControlPoint Id="HIyjCMapFaQM3d4xxJHeoC" Bounds="473,147" Alignment="Top" />
                 </Node>
                 <Node Bounds="526,688,80,26" Id="GnsekTzQOHTLRImhET1NDZ">
                   <p:NodeReference LastCategoryFullName="Reactive.Disposables.SerialDisposable" LastDependency="VL.CoreLib.vl">
@@ -171,23 +178,14 @@
                   <Pin Id="U3imCPgLcW4NPxo55SWbVc" Name="Value" Kind="InputPin" />
                   <Pin Id="DoT1Bzy7A4OOwCPM5TSwZ4" Name="Output" Kind="StateOutputPin" />
                 </Node>
-                <Node Bounds="389,132,67,26" Id="EQJF0TtfjXvMI9xPRKqP0b">
-                  <p:NodeReference LastCategoryFullName="Primitive.DynamicEnum" LastDependency="VL.CoreLib.vl">
-                    <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
-                    <FullNameCategoryReference ID="Primitive.DynamicEnum" />
-                    <Choice Kind="OperationCallFlag" Name="Value" />
-                  </p:NodeReference>
-                  <Pin Id="Tsf2hH2MDxEO9qowqDNTdc" Name="Input" Kind="StateInputPin" />
-                  <Pin Id="HTfAlYBotGNN6SnlKAXN60" Name="Value" Kind="OutputPin" />
-                </Node>
               </Patch>
               <ControlPoint Id="QBWboaTFymHObcRatIIpuh" Bounds="405,735" Alignment="Bottom" />
-              <ControlPoint Id="IxTiuKu2V3qNFZxjyHjRNE" Bounds="405,79" Alignment="Top" />
-              <ControlPoint Id="JB5Ypq6E8w1Mzq35942sbe" Bounds="427,79" Alignment="Top" />
+              <ControlPoint Id="IxTiuKu2V3qNFZxjyHjRNE" Bounds="405,58" Alignment="Top" />
+              <ControlPoint Id="JB5Ypq6E8w1Mzq35942sbe" Bounds="427,58" Alignment="Top" />
               <ControlPoint Id="M1hi7QaEFxbNXKYO1LmCFh" Bounds="443,735" Alignment="Bottom" />
               <ControlPoint Id="BrzAW9sae5wNxFqY8OlFVH" Bounds="513,735" Alignment="Bottom" />
-              <ControlPoint Id="GxlQTjPOUMsME3f1NqFXZF" Bounds="489,79" Alignment="Top" />
-              <ControlPoint Id="AzSRFiXcojYPOqX5HMNcT2" Bounds="622,79" Alignment="Top" />
+              <ControlPoint Id="GxlQTjPOUMsME3f1NqFXZF" Bounds="489,58" Alignment="Top" />
+              <ControlPoint Id="AzSRFiXcojYPOqX5HMNcT2" Bounds="622,58" Alignment="Top" />
             </Node>
             <ControlPoint Id="EhMjUkx53p2Poy21nrDqEY" Bounds="406,2" />
             <Node Bounds="398,788,65,19" Id="IaxT6it7g11OP9agD9qkQj">
@@ -199,7 +197,7 @@
               <Pin Id="H3vRfRe1IHhLZEMHgZPxDZ" Name="Result" Kind="OutputPin" />
               <Pin Id="A5kcdegmiOQL1NSI9hIZLY" Name="Not Assigned" Kind="OutputPin" />
             </Node>
-            <Node Bounds="396,922,470,349" Id="FZEMJu4hMdgQPYerpmcLnd">
+            <Node Bounds="396,922,521,304" Id="FZEMJu4hMdgQPYerpmcLnd">
               <p:NodeReference LastCategoryFullName="Primitive" LastDependency="Builtin">
                 <Choice Kind="StatefulRegion" Name="Region (Stateful)" Fixed="true" />
                 <CategoryReference Kind="Category" Name="Primitive" />
@@ -209,24 +207,6 @@
               <Patch Id="FZOwHkM8XsfPeUHxJXgHV8" ManuallySortedPins="true">
                 <Patch Id="CvEl5NOQkJKMgfyTTYSbAV" Name="Create" ManuallySortedPins="true" />
                 <Patch Id="JmpuO5NSKjEOdtgNVA0fOD" Name="Then" ManuallySortedPins="true" />
-                <Node Bounds="408,1006,86,26" Id="I5ANuByoSJPPkVrm7AOMNW">
-                  <p:NodeReference LastCategoryFullName="RPLidar4Net.IO.RPLidarSerialDevice" LastDependency="RPLidar4Net.IO.dll">
-                    <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
-                    <Choice Kind="OperationCallFlag" Name="StopMotor" />
-                  </p:NodeReference>
-                  <Pin Id="NsYQnTQvw8TMdzbUURuLHL" Name="Input" Kind="StateInputPin" />
-                  <Pin Id="QS2PnzMTp4QLnc48rLA9WH" Name="Output" Kind="StateOutputPin" />
-                  <Pin Id="T021yauCKbGNfODM7Ga8DC" Name="Apply" Kind="InputPin" DefaultValue="False" />
-                </Node>
-                <Node Bounds="412,952,86,26" Id="AmMRym7r6gJLkX8rGnOGbP">
-                  <p:NodeReference LastCategoryFullName="RPLidar4Net.IO.RPLidarSerialDevice" LastDependency="RPLidar4Net.IO.dll">
-                    <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
-                    <Choice Kind="OperationCallFlag" Name="StartMotor" />
-                  </p:NodeReference>
-                  <Pin Id="KGIU5mK3wVEN6jzUow86M0" Name="Input" Kind="StateInputPin" />
-                  <Pin Id="Vht9DUI9MoQMz5SmwUbJCU" Name="Output" Kind="StateOutputPin" />
-                  <Pin Id="KXwFTmD6ufzMMz9gmv00Aq" Name="Apply" Kind="InputPin" DefaultValue="False" />
-                </Node>
                 <Node Bounds="408,1054,86,26" Id="AMSqpjiYPwkQImEXGCKtNZ">
                   <p:NodeReference LastCategoryFullName="RPLidar4Net.IO.RPLidarSerialDevice" LastDependency="RPLidar4Net.IO.dll">
                     <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
@@ -236,7 +216,7 @@
                   <Pin Id="NR70UgKSHM7Pfyr1Wgwihl" Name="Output" Kind="StateOutputPin" />
                   <Pin Id="SGnsWp9Z4MVLtjP6POqyj0" Name="Apply" Kind="InputPin" />
                 </Node>
-                <Node Bounds="410,1113,86,26" Id="H1jVQHZ2oEvQbiE0oSroGu">
+                <Node Bounds="408,1113,86,26" Id="H1jVQHZ2oEvQbiE0oSroGu">
                   <p:NodeReference LastCategoryFullName="RPLidar4Net.IO.RPLidarSerialDevice" LastDependency="RPLidar4Net.IO.dll">
                     <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
                     <Choice Kind="OperationCallFlag" Name="StopScan" />
@@ -245,17 +225,47 @@
                   <Pin Id="QvHyv5DHlVHPpBxL2AA6NF" Name="Output" Kind="StateOutputPin" />
                   <Pin Id="NY9uKDbYqz0MNgyWR7t7JW" Name="Apply" Kind="InputPin" />
                 </Node>
-                <Node Bounds="708,1031,146,143" Id="OLjRNn2HY5QNAorjYP43J6">
+                <Node Bounds="597,973,56,19" Id="DaeMoqKyK7EPE8ilmC2Nv5">
+                  <p:NodeReference LastCategoryFullName="Control" LastDependency="VL.CoreLib.vl">
+                    <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
+                    <Choice Kind="ProcessAppFlag" Name="TogEdge" />
+                  </p:NodeReference>
+                  <Pin Id="Je8PTl4nn4sM0SaKCaZ19S" Name="Node Context" Kind="InputPin" IsHidden="true" />
+                  <Pin Id="E6ktWb7xYZLNQoqFXDLUOB" Name="Value" Kind="InputPin" />
+                  <Pin Id="QzdfWuvbDLyPpvr0sgMA8b" Name="Up Edge" Kind="OutputPin" />
+                  <Pin Id="QimtJrYLp6JM6OPS2vLpVw" Name="Down Edge" Kind="OutputPin" />
+                </Node>
+                <Node Bounds="517,974,37,19" Id="RSKpT6q0yaxLOGGdLQ7bck">
+                  <p:NodeReference LastCategoryFullName="Primitive.Boolean" LastDependency="VL.CoreLib.vl">
+                    <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
+                    <Choice Kind="OperationCallFlag" Name="AND" />
+                  </p:NodeReference>
+                  <Pin Id="FDRe479sTpAPZirZIpl4nI" Name="Input" Kind="StateInputPin" />
+                  <Pin Id="VHPalXxlCYrPH5PD980yKt" Name="Input 2" Kind="InputPin" />
+                  <Pin Id="OilrU4674yHOiIDjFLNWvb" Name="Output" Kind="StateOutputPin" />
+                </Node>
+                <Node Bounds="517,1012,30,19" Id="IJT2QK0D230Ly0wgOpAVZ1">
+                  <p:NodeReference LastCategoryFullName="Primitive.Boolean" LastDependency="VL.CoreLib.vl">
+                    <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
+                    <Choice Kind="OperationCallFlag" Name="OR" />
+                  </p:NodeReference>
+                  <Pin Id="BzjjhhE9ZUYNvxLyiVqbkq" Name="Input" Kind="StateInputPin" />
+                  <Pin Id="VlBGS9f4kG0LFRJ92I07xi" Name="Input 2" Kind="InputPin" />
+                  <Pin Id="KjQcAe6nPaQNxepoqGRchi" Name="Output" Kind="StateOutputPin" />
+                </Node>
+                <Node Bounds="744,1043,149,143" Id="JwYDpANv2eROGIwcgJ7hnE">
                   <p:NodeReference LastCategoryFullName="Primitive" LastDependency="Builtin">
                     <Choice Kind="StatefulRegion" Name="Region (Stateful)" Fixed="true" />
                     <CategoryReference Kind="Category" Name="Primitive" />
-                    <Choice Kind="ApplicationStatefulRegion" Name="If" />
+                    <Choice Kind="ProcessStatefulRegion" Name="Cache" />
                   </p:NodeReference>
-                  <Pin Id="DI95g1WZ7s1LjGRa9z3wB6" Name="Condition" Kind="InputPin" />
-                  <Patch Id="MtaeHv1JCiWQRmTVWoH6Dq" ManuallySortedPins="true">
-                    <Patch Id="B38MEjiMlFlLiStUIh7CgU" Name="Create" ManuallySortedPins="true" />
-                    <Patch Id="PvHF8Pg8eU2NnZ3MU15vVi" Name="Then" ManuallySortedPins="true" />
-                    <Node Bounds="751,1128,90,26" Id="JqkICBiLRs6PmjeOsIpbKT">
+                  <Pin Id="GUrf1ecHw1vLon2GOgRoK9" Name="Force" Kind="InputPin" />
+                  <Pin Id="TLoxjBKXDyePMvOexH4YxK" Name="Dispose Cached Outputs" Kind="InputPin" />
+                  <Pin Id="I5hApeRhldkMtifPn0tOmN" Name="Has Changed" Kind="OutputPin" />
+                  <Patch Id="HG9QAiGF6SGMqWDebve72q" ManuallySortedPins="true">
+                    <Patch Id="Q0jZs1Q5RkuL3xhZqzV1CY" Name="Create" ManuallySortedPins="true" />
+                    <Patch Id="TOLe5F0YBEmPEC8SyOr3kQ" Name="Then" ManuallySortedPins="true" />
+                    <Node Bounds="787,1140,90,26" Id="JqkICBiLRs6PmjeOsIpbKT">
                       <p:NodeReference LastCategoryFullName="RPLidar4Net.Api.Data.HealthDataResponse" LastDependency="RPLidar4Net.Api.dll">
                         <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
                         <CategoryReference Kind="AssemblyCategory" Name="HealthDataResponse" NeedsToBeDirectParent="true" />
@@ -265,7 +275,7 @@
                       <Pin Id="CTqURAE1H3GMFVVofLCFAG" Name="Output" Kind="StateOutputPin" />
                       <Pin Id="L0L2iO0d3R2NYrLLy5b5zp" Name="Status" Kind="OutputPin" />
                     </Node>
-                    <Node Bounds="752,1095,90,26" Id="MZNFkbMuDHcPQqpy2aREw7">
+                    <Node Bounds="788,1107,90,26" Id="MZNFkbMuDHcPQqpy2aREw7">
                       <p:NodeReference LastCategoryFullName="RPLidar4Net.Api.Data.HealthDataResponse" LastDependency="RPLidar4Net.Api.dll">
                         <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
                         <CategoryReference Kind="AssemblyCategory" Name="HealthDataResponse" />
@@ -275,7 +285,7 @@
                       <Pin Id="E4znlWxppUIMyt8uJCvZfa" Name="Output" Kind="StateOutputPin" />
                       <Pin Id="TaJHFdLUoWfQBvZvvUnY3f" Name="Error Code" Kind="OutputPin" />
                     </Node>
-                    <Node Bounds="720,1054,86,26" Id="H2wv2ceH8l4LQT95h8x2zr">
+                    <Node Bounds="756,1066,86,26" Id="H2wv2ceH8l4LQT95h8x2zr">
                       <p:NodeReference LastCategoryFullName="RPLidar4Net.IO.RPLidarSerialDevice" LastDependency="RPLidar4Net.IO.dll">
                         <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
                         <Choice Kind="OperationCallFlag" Name="GetHealth" />
@@ -285,58 +295,20 @@
                       <Pin Id="UyO7I8jLsPYNIfN8MvM8tt" Name="Result" Kind="OutputPin" />
                     </Node>
                   </Patch>
-                  <ControlPoint Id="BOS8wvkNGuTOWLeelDRIbV" Bounds="806,1168" Alignment="Bottom" />
-                  <ControlPoint Id="RYHqGfE8FVXMtMYoucJ5G7" Bounds="755,1037" Alignment="Top" />
-                  <ControlPoint Id="DkjKYuDlvZyLqLTEQEA1ic" Bounds="837,1168" Alignment="Bottom" />
-                  <ControlPoint Id="VhJ5ZDoovxIO5u98F02XZu" Bounds="786,1037" Alignment="Top" />
+                  <ControlPoint Id="Vq0R5iEzQowMpu5DUJAbYo" Bounds="856,1180" Alignment="Bottom" />
+                  <ControlPoint Id="JFzP34NFER4Oj6SdR7IjMG" Bounds="878,1180" Alignment="Bottom" />
                 </Node>
-                <Node Bounds="412,1168,86,26" Id="KFHMwTEwP4bLYqyTruGFPd">
-                  <p:NodeReference LastCategoryFullName="RPLidar4Net.IO.RPLidarSerialDevice" LastDependency="RPLidar4Net.IO.dll">
-                    <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
-                    <Choice Kind="OperationCallFlag" Name="MotorSpeed" />
-                  </p:NodeReference>
-                  <Pin Id="J5akACKT739QGsvI52nrkI" Name="Input" Kind="StateInputPin" />
-                  <Pin Id="OW1mMSUzLTbPnxXurxkjsb" Name="Output" Kind="StateOutputPin" />
-                  <Pin Id="S6JcrYB5IZMPumoQNdZt7v" Name="Motor Speed" Kind="OutputPin" />
-                </Node>
-                <Node Bounds="572,956,56,19" Id="DaeMoqKyK7EPE8ilmC2Nv5">
-                  <p:NodeReference LastCategoryFullName="Control" LastDependency="VL.CoreLib.vl">
-                    <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
-                    <Choice Kind="ProcessAppFlag" Name="TogEdge" />
-                  </p:NodeReference>
-                  <Pin Id="Je8PTl4nn4sM0SaKCaZ19S" Name="Node Context" Kind="InputPin" IsHidden="true" />
-                  <Pin Id="E6ktWb7xYZLNQoqFXDLUOB" Name="Value" Kind="InputPin" />
-                  <Pin Id="QzdfWuvbDLyPpvr0sgMA8b" Name="Up Edge" Kind="OutputPin" />
-                  <Pin Id="QimtJrYLp6JM6OPS2vLpVw" Name="Down Edge" Kind="OutputPin" />
-                </Node>
-                <Node Bounds="417,1215,86,26" Id="Kry0d7bgJS2PVthU8XpF1B">
-                  <p:NodeReference LastCategoryFullName="RPLidar4Net.IO.RPLidarSerialDevice" LastDependency="RPLidar4Net.IO.dll">
-                    <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
-                    <Choice Kind="OperationCallFlag" Name="ForceScan" />
-                  </p:NodeReference>
-                  <Pin Id="Q2uegEbYITZMjGprHJO70V" Name="Input" Kind="StateInputPin" />
-                  <Pin Id="VqTmC5chLxoNra4HdafwxY" Name="Output" Kind="StateOutputPin" />
-                  <Pin Id="OOlVjmOha8DP6bXmAbssjE" Name="Apply" Kind="InputPin" />
-                </Node>
-                <Pad Id="CHA2YUmK5cMP41YUjWqr0n" Comment="Apply" Bounds="551,1174,35,35" ShowValueBox="true" isIOBox="true" Value="false">
-                  <p:TypeAnnotation LastCategoryFullName="Primitive" LastDependency="VL.CoreLib.vl">
-                    <Choice Kind="ImmutableTypeFlag" Name="Boolean" />
-                  </p:TypeAnnotation>
-                  <p:ValueBoxSettings>
-                    <p:buttonmode p:Assembly="VL.UI.Forms" p:Type="VL.HDE.PatchEditor.Editors.ButtonModeEnum">Bang</p:buttonmode>
-                  </p:ValueBoxSettings>
-                </Pad>
               </Patch>
               <ControlPoint Id="GA3QZLin3wHNtMb3mL5XvF" Bounds="412,928" Alignment="Top" />
-              <ControlPoint Id="MP4G1F7cXrLQTuKnyub8zM" Bounds="422,1265" Alignment="Bottom" />
-              <ControlPoint Id="CDtL2wnRiDYM4vJgbL2MPN" Bounds="842,1265" Alignment="Bottom" />
+              <ControlPoint Id="MP4G1F7cXrLQTuKnyub8zM" Bounds="422,1220" Alignment="Bottom" />
+              <ControlPoint Id="CDtL2wnRiDYM4vJgbL2MPN" Bounds="900,1220" Alignment="Bottom" />
               <ControlPoint Id="QDE6j9wEN2HLcGNDHlfZwQ" Bounds="753,928" Alignment="Top" />
-              <ControlPoint Id="FWRQg2IVN9uNOGu5VrKqOR" Bounds="790,1265" Alignment="Bottom" />
+              <ControlPoint Id="FWRQg2IVN9uNOGu5VrKqOR" Bounds="824,1220" Alignment="Bottom" />
               <ControlPoint Id="Jtrp8sTmxGJNpNVwyVQ75b" Bounds="615,928" Alignment="Top" />
-              <ControlPoint Id="QHQ1PQl8XRlMZtKrnMpIek" Bounds="501,1265" Alignment="Bottom" />
-              <ControlPoint Id="GvV860nuh4uMkiKPcTuWQ6" Bounds="510,928" Alignment="Top" />
+              <ControlPoint Id="Aemf4SUwVQQPAtSMzP2POF" Bounds="838,928" Alignment="Top" />
+              <ControlPoint Id="Hnlacqe37i9MwLtPz7rQTy" Bounds="686,1220" Alignment="Bottom" />
             </Node>
-            <ControlPoint Id="OdTKCcmGAZLO2ta9BZa0aV" Bounds="441,39" />
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@@ -457,8 +429,6 @@
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@@ -597,20 +567,13 @@
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@@ -625,7 +588,9 @@
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+            <Pin Id="Q6cYJZgIXlbO0cX33lvDul" Name="Get Health" Kind="InputPin" />
+            <Pin Id="KI1PV8eVyUpL4CmM0dcXDO" Name="Error Code" Kind="OutputPin" />
+            <Pin Id="CPkuMJ0VB9GMOnEMAlxeFB" Name="Status" Kind="OutputPin" />
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@@ -638,8 +603,6 @@
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@@ -662,29 +625,18 @@
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@@ -705,20 +657,9 @@
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@@ -727,6 +668,26 @@
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         </Patch>
       </Node>
       <Pad Id="ACl9BMApSY6Ovuis8JQP8H" Bounds="451,123,238,19" ShowValueBox="true" isIOBox="true" Value="https://bucket-download.slamtec.com/6957283725b66750890024d1f0d12940fa079e06/LR002_SLAMTEC_rplidar_sdk_v2.0_en.pdf">
diff --git a/deployment/VL.Devices.RPLidar.nuspec b/deployment/VL.Devices.RPLidar.nuspec
index 1a3591d..15510bc 100644
--- a/deployment/VL.Devices.RPLidar.nuspec
+++ b/deployment/VL.Devices.RPLidar.nuspec
@@ -3,7 +3,7 @@
 <package xmlns="http://schemas.microsoft.com/packaging/2011/10/nuspec.xsd">
   <metadata>
     <id>VL.Devices.RPLidar</id>
-    <version>0.0.2-alpha</version>
+    <version>0.0.3-alpha</version>
     <title>VL.Devices.RPLidar</title>
     <authors>vvvv</authors>
     <projectUrl>http://vvvv.org</projectUrl>
diff --git a/help/Explanation Overview.vl b/help/Explanation Overview.vl
index e961c66..856ac46 100644
--- a/help/Explanation Overview.vl	
+++ b/help/Explanation Overview.vl	
@@ -15,7 +15,7 @@
       </p:NodeReference>
       <Patch Id="Np2R00enbdsOwdXcdVRmSJ">
         <Canvas Id="U46yhbwd53fMUYlVTA4WTz" CanvasType="Group">
-          <Node Bounds="164,312,105,19" Id="P6lWJCqWqbsQGezq6uDadC">
+          <Node Bounds="164,312,125,19" Id="P6lWJCqWqbsQGezq6uDadC">
             <p:NodeReference LastCategoryFullName="Main" LastDependency="callmenames-2024-10-01_02.vl">
               <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
               <Choice Kind="ProcessNode" Name="RPLidar" />
@@ -30,9 +30,11 @@
             <Pin Id="FOQNwLpOaGwNIumrQdHHtU" Name="Enabled" Kind="InputPin" />
             <Pin Id="BUbMAdkcFi7QWlEn6gWKa0" Name="Result" Kind="OutputPin" />
             <Pin Id="Rc74yTEGqBxLuGApCYJYZS" Name="Device Info" Kind="OutputPin" />
-            <Pin Id="AWevrPNcDckOEC5haa67RB" Name="Estimated Motor Speed" Kind="OutputPin" />
+            <Pin Id="SHCvGjWUg3bPRlULMC5x6z" Name="Get Health" Kind="InputPin" />
+            <Pin Id="L1TM6TVcs96Nsy6AjWoFb2" Name="Error Code" Kind="OutputPin" />
+            <Pin Id="RpI5Nqzc4KpNqeO1pTdS65" Name="Status" Kind="OutputPin" />
           </Node>
-          <Pad Id="KcFjXUYy8sCLAxrtWa9fmw" Comment="Port Name" Bounds="166,141,57,15" ShowValueBox="true" isIOBox="true" Value="COM3">
+          <Pad Id="KcFjXUYy8sCLAxrtWa9fmw" Comment="Port Name" Bounds="166,141,57,15" ShowValueBox="true" isIOBox="true" Value="COM10">
             <p:TypeAnnotation LastCategoryFullName="IO.Ports" LastDependency="VL.CoreLib.vl">
               <Choice Kind="TypeFlag" Name="ComPort" />
             </p:TypeAnnotation>
@@ -100,7 +102,7 @@
             <Pin Id="QCOWIGNOnQwOhnJbQvIWfs" Name="Zoom" Kind="OutputPin" />
             <Pin Id="VICvUFEBVs5MS4m28VVQ9n" Name="Idle" Kind="OutputPin" />
           </Node>
-          <Pad Id="EmU8dmFArX9PFgZl6kkRCN" Comment="Device Info" Bounds="216,377,286,62" ShowValueBox="true" isIOBox="true" />
+          <Pad Id="EmU8dmFArX9PFgZl6kkRCN" Comment="Device Info" Bounds="206,388,286,62" ShowValueBox="true" isIOBox="true" />
           <Pad Id="VUrf8KvubdZO0BlKh1LP21" Comment="Scan" Bounds="246,255,35,35" ShowValueBox="true" isIOBox="true" Value="True">
             <p:TypeAnnotation LastCategoryFullName="Primitive" LastDependency="VL.CoreLib.vl">
               <Choice Kind="ImmutableTypeFlag" Name="Boolean" />
@@ -122,7 +124,6 @@
             <Pin Id="Ej10KLY4yKwLnrPs9fGequ" Name="On Data" Kind="OutputPin" />
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@@ -169,6 +170,16 @@
               <Choice Kind="TypeFlag" Name="Integer32" />
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+            <p:TypeAnnotation LastCategoryFullName="Primitive" LastDependency="VL.CoreLib.vl">
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+          <Pad Id="MIVWFI9mR6dNakpNf0RO7N" Comment="Status" Bounds="378,354,35,15" ShowValueBox="true" isIOBox="true" />
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         <Patch Id="VUhWUKG80d4QcoVSLYgxc4" Name="Update" />
@@ -185,10 +196,12 @@
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