From dea86091e3d265eae1dda0cadcfaaa1f17b411f9 Mon Sep 17 00:00:00 2001
From: joreg <joreg@vvvv.org>
Date: Thu, 10 Oct 2024 11:27:42 +0200
Subject: [PATCH] adds support for A2 models

---
 README.md                               |   4 +-
 VL.Devices.RPLidar.vl                   | 382 +++++++++++++++---------
 deployment/VL.Devices.RPLidar.nuspec    |   6 +-
 help/Explanation Overview.vl            | 186 +++++++++---
 lib/netstandard2.0/RPLidar4Net.Api.dll  |   3 +
 lib/netstandard2.0/RPLidar4Net.Core.dll |   3 +
 lib/netstandard2.0/RPLidar4Net.IO.dll   |   3 +
 lib/netstandard2.0/Serilog.dll          |   3 +
 8 files changed, 400 insertions(+), 190 deletions(-)
 create mode 100644 lib/netstandard2.0/RPLidar4Net.Api.dll
 create mode 100644 lib/netstandard2.0/RPLidar4Net.Core.dll
 create mode 100644 lib/netstandard2.0/RPLidar4Net.IO.dll
 create mode 100644 lib/netstandard2.0/Serilog.dll

diff --git a/README.md b/README.md
index b671186..3c78a8b 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,8 @@
 # VL.Devices.RPLidar
 
-For using RPLIDAR [A1](https://www.slamtec.com/en/Lidar/A1), [A2](https://www.slamtec.com/en/Lidar/A2) and [A3](https://www.slamtec.com/en/Lidar/A3) devices by [Slamtec](http://slamtec.com)
+For using RPLIDAR devices by [Slamtec](http://slamtec.com).  
+- List of potentially [supported device](https://github.com/slamtec/rplidar_sdk?tab=readme-ov-file#supported-platforms)
+- Tested to work with [RPLidar A1](https://www.slamtec.com/en/Lidar/A1) and [RPLidar A2](https://www.slamtec.com/en/Lidar/A2) model A2M12
 
 For use with vvvv, the visual live-programming environment for .NET: http://visualprogramming.net
 
diff --git a/VL.Devices.RPLidar.vl b/VL.Devices.RPLidar.vl
index 201e4c1..76af490 100644
--- a/VL.Devices.RPLidar.vl
+++ b/VL.Devices.RPLidar.vl
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
-<Document xmlns:p="property" xmlns:r="reflection" Id="QlGYkrVTqJhMvGS6OjrGrD" LanguageVersion="2024.6.7-0181-gdf16f593e1" Version="0.128">
-  <NugetDependency Id="V5Y6NXxV8SxNelSJIhFmES" Location="VL.CoreLib" Version="2024.6.7-0181-gdf16f593e1" />
+<Document xmlns:p="property" xmlns:r="reflection" Id="QlGYkrVTqJhMvGS6OjrGrD" LanguageVersion="2024.6.6" Version="0.128">
+  <NugetDependency Id="V5Y6NXxV8SxNelSJIhFmES" Location="VL.CoreLib" Version="2024.6.6" />
   <Patch Id="EhiLWYqksx4PA1STtVIn1q">
     <Canvas Id="DRE9090862PLSlgQz8tGYb" DefaultCategory="Devices.RPLidar" CanvasType="FullCategory">
       <!--
@@ -8,14 +8,14 @@
     ************************ RPLidar ************************
 
 -->
-      <Node Name="RPLidar" Bounds="200,100" Id="FjblDMXnUUpOwiST0TCeoK">
+      <Node Name="RPLidar" Bounds="198,128" Id="FjblDMXnUUpOwiST0TCeoK">
         <p:NodeReference>
           <Choice Kind="ContainerDefinition" Name="Process" />
           <CategoryReference Kind="Category" Name="Primitive" />
         </p:NodeReference>
         <Patch Id="Etukncv7DHxNCpFUGw3A1g">
           <Canvas Id="StWIAZzgqOsNYTDQJoEDDg" CanvasType="Group">
-            <Node Bounds="366,52,382,689" Id="KdnROBixCoaNa6usNDyvD4">
+            <Node Bounds="366,78,388,720" Id="KdnROBixCoaNa6usNDyvD4">
               <p:NodeReference LastCategoryFullName="Primitive" LastDependency="Builtin">
                 <Choice Kind="StatefulRegion" Name="Region (Stateful)" Fixed="true" />
                 <CategoryReference Kind="Category" Name="Primitive" />
@@ -27,7 +27,7 @@
               <Patch Id="Q66B9tYLCcwPp7bxH5U2fZ" ManuallySortedPins="true">
                 <Patch Id="PDi78b7dhHpNNOCmop62IL" Name="Create" ManuallySortedPins="true" />
                 <Patch Id="RIReQXFhnFQNhLGxgcSoxB" Name="Then" ManuallySortedPins="true" />
-                <Node Bounds="591,480,145,181" Id="OtM6Vf4Cs4wNTo0gJ4zkLa">
+                <Node Bounds="597,564,145,154" Id="OtM6Vf4Cs4wNTo0gJ4zkLa">
                   <p:NodeReference LastCategoryFullName="Reactive.Disposables.Disposable" LastDependency="VL.CoreLib.vl" OverloadStrategy="AllPinsThatAreNotCommon">
                     <Choice Kind="RegionFlag" Name="Region (Stateless)" Fixed="true" />
                     <CategoryReference Kind="ClassType" Name="Disposable" />
@@ -40,7 +40,7 @@
                   </p:NodeReference>
                   <Pin Id="M5GawPXbZuDOs3kb9EiQxf" Name="Result" Kind="OutputPin" />
                   <Patch Id="JDxq4xKYSyfLHSO5kY8dZk" Name="Dispose" ManuallySortedPins="true">
-                    <Node Bounds="614,534,110,107" Id="FeZwgnfDHE4OtamaQH0Rea">
+                    <Node Bounds="620,617,110,80" Id="FeZwgnfDHE4OtamaQH0Rea">
                       <p:NodeReference LastCategoryFullName="Primitive" LastDependency="Builtin">
                         <Choice Kind="StatefulRegion" Name="Region (Stateful)" Fixed="true" />
                         <CategoryReference Kind="Category" Name="Primitive" />
@@ -50,7 +50,7 @@
                       <Patch Id="Uppus9oH0w0PmikPKc5FG7" ManuallySortedPins="true">
                         <Patch Id="QqLBNWqY7rTLXmoHuktmGz" Name="Create" ManuallySortedPins="true" />
                         <Patch Id="N484j3dPVDBNWWJFXO4rHU" Name="Then" ManuallySortedPins="true" />
-                        <Node Bounds="626,595,86,26" Id="Pungdc31MbCOa8fFd3kPAf">
+                        <Node Bounds="632,646,86,26" Id="Pungdc31MbCOa8fFd3kPAf">
                           <p:NodeReference LastCategoryFullName="RPLidar4Net.IO.RPLidarSerialDevice" LastDependency="RPLidar4Net.IO.dll">
                             <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
                             <CategoryReference Kind="AssemblyCategory" Name="RPLidarSerialDevice" NeedsToBeDirectParent="true" />
@@ -59,18 +59,9 @@
                           <Pin Id="Vf34x6DLwj7L7tusYCcWXN" Name="Input" Kind="StateInputPin" />
                           <Pin Id="H6ARdHYYICNPQxUgNz6raN" Name="Output" Kind="StateOutputPin" />
                         </Node>
-                        <Node Bounds="626,557,86,26" Id="SG6ExGPJcbjM2bq8hGhgQz">
-                          <p:NodeReference LastCategoryFullName="RPLidar4Net.IO.RPLidarSerialDevice" LastDependency="RPLidar4Net.IO.dll">
-                            <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
-                            <CategoryReference Kind="AssemblyCategory" Name="RPLidarSerialDevice" NeedsToBeDirectParent="true" />
-                            <Choice Kind="OperationCallFlag" Name="Disconnect" />
-                          </p:NodeReference>
-                          <Pin Id="GGoQLEV4AvTMG78Dvzhvnb" Name="Input" Kind="StateInputPin" />
-                          <Pin Id="MR9oBJIiCj6PKFDaPuSLdd" Name="Output" Kind="StateOutputPin" />
-                        </Node>
                       </Patch>
                     </Node>
-                    <Node Bounds="614,503,65,19" Id="CiM8Ilek2V8NoEHnRrItOn">
+                    <Node Bounds="620,587,65,19" Id="CiM8Ilek2V8NoEHnRrItOn">
                       <p:NodeReference LastCategoryFullName="Primitive.Object" LastDependency="VL.CoreLib.vl">
                         <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
                         <Choice Kind="OperationCallFlag" Name="IsAssigned" />
@@ -81,7 +72,7 @@
                     </Node>
                   </Patch>
                 </Node>
-                <Node Bounds="512,102,80,26" Id="MadO73pN0GAPV33mMRy2N1">
+                <Node Bounds="512,132,80,26" 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 +82,14 @@
                   <Pin Id="JCRjay1075dMOkZZvmtjCt" Name="Value" Kind="InputPin" />
                   <Pin Id="T0QvwmtyjoTNytITtmaZ3s" Name="Output" Kind="StateOutputPin" />
                 </Node>
-                <Node Bounds="606,75,40,19" Id="TOIRqH4L0qIOIgNM9MPbu2">
+                <Node Bounds="587,101,40,19" 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="389,141,146,272" Id="EXF53NCdCKCOdDxBGuBgi6">
+                <Node Bounds="389,186,279,324" Id="EXF53NCdCKCOdDxBGuBgi6">
                   <p:NodeReference LastCategoryFullName="Primitive" LastDependency="Builtin">
                     <Choice Kind="StatefulRegion" Name="Region (Stateful)" Fixed="true" />
                     <CategoryReference Kind="Category" Name="Primitive" />
@@ -108,7 +99,7 @@
                   <Patch Id="S4IbgIABz58LRS5PrjKC88" ManuallySortedPins="true">
                     <Patch Id="IV68tb9VKt1MpMjI8C37qO" Name="Create" ManuallySortedPins="true" />
                     <Patch Id="CLrFNKnM0xGOAPWJXzXBsk" Name="Then" ManuallySortedPins="true" />
-                    <Node Bounds="403,202,86,26" Id="PCIW0BN7ZEbMXqr87CQHfc">
+                    <Node Bounds="403,247,86,26" Id="PCIW0BN7ZEbMXqr87CQHfc">
                       <p:NodeReference LastCategoryFullName="RPLidar4Net.IO.RPLidarSerialDevice" LastDependency="RPLidar4Net.IO.dll">
                         <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
                         <CategoryReference Kind="AssemblyCategory" Name="RPLidar4Net" />
@@ -121,7 +112,7 @@
                       <Pin Id="QDLeO8TaCDoN8Qrtj3C9rg" Name="Timeout" Kind="InputPin" />
                       <Pin Id="L4fUL7cNngwNJNTxarSpux" Name="Output" Kind="StateOutputPin" />
                     </Node>
-                    <Node Bounds="401,240,86,26" Id="UyKLEpLpVRNNkuymXtcaAF">
+                    <Node Bounds="401,285,86,26" Id="UyKLEpLpVRNNkuymXtcaAF">
                       <p:NodeReference LastCategoryFullName="RPLidar4Net.IO.RPLidarSerialDevice" LastDependency="RPLidar4Net.IO.dll">
                         <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
                         <CategoryReference Kind="AssemblyCategory" Name="RPLidarSerialDevice" NeedsToBeDirectParent="true" />
@@ -130,7 +121,7 @@
                       <Pin Id="Jo9EJ62HuFuPBmgQGdAdjr" Name="Input" Kind="StateInputPin" />
                       <Pin Id="SOZZsbG0nHhMd1HBnjuZIZ" Name="Output" Kind="StateOutputPin" />
                     </Node>
-                    <Node Bounds="437,354,86,26" Id="RQEI61J7EO9ONqWyO0Uiaa">
+                    <Node Bounds="427,463,86,26" Id="RQEI61J7EO9ONqWyO0Uiaa">
                       <p:NodeReference LastCategoryFullName="RPLidar4Net.IO.RPLidarSerialDevice" LastDependency="RPLidar4Net.IO.dll">
                         <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
                         <Choice Kind="OperationCallFlag" Name="NewScan" />
@@ -139,7 +130,7 @@
                       <Pin Id="TqZ17rsOnjGMN0CfH8NUQo" Name="State Output" Kind="OutputPin" IsHidden="true" />
                       <Pin Id="ShmHtLuyqxSMkRnN6MzvCY" Name="Result" Kind="OutputPin" />
                     </Node>
-                    <Node Bounds="401,291,50,19" Id="KjcXfQFldWVQd7jcxdiGzA">
+                    <Node Bounds="402,377,50,19" Id="KjcXfQFldWVQd7jcxdiGzA">
                       <p:NodeReference LastCategoryFullName="Main.RPLidar" LastDependency="Slamtec.vl">
                         <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
                         <CategoryReference Kind="Category" Name="RPLidar" NeedsToBeDirectParent="true" />
@@ -149,7 +140,7 @@
                       <Pin Id="HnN5vzDEWtXNfY6wtIfKW5" Name="Output" Kind="OutputPin" />
                       <Pin Id="IAD6GKBcXvUPqQbAxY4Qlk" Name="Info" Kind="OutputPin" />
                     </Node>
-                    <Node Bounds="403,164,67,26" Id="EQJF0TtfjXvMI9xPRKqP0b">
+                    <Node Bounds="403,209,67,26" Id="EQJF0TtfjXvMI9xPRKqP0b">
                       <p:NodeReference LastCategoryFullName="Primitive.DynamicEnum" LastDependency="VL.CoreLib.vl">
                         <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
                         <FullNameCategoryReference ID="Primitive.DynamicEnum" />
@@ -158,17 +149,50 @@
                       <Pin Id="Tsf2hH2MDxEO9qowqDNTdc" Name="Input" Kind="StateInputPin" />
                       <Pin Id="HTfAlYBotGNN6SnlKAXN60" Name="Value" Kind="OutputPin" />
                     </Node>
+                    <Node Bounds="482,401,90,26" Id="AlY7V471PmVQF4HegQ13b7">
+                      <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" />
+                        <Choice Kind="OperationCallFlag" Name="Status" />
+                      </p:NodeReference>
+                      <Pin Id="HsK0McF4MY7QExtebHfZdD" Name="Input" Kind="StateInputPin" />
+                      <Pin Id="DCg9qPFK7JUMBuvbsA5QyG" Name="Output" Kind="StateOutputPin" />
+                      <Pin Id="VIdJHx3ojWVLbv3YFAOuSG" Name="Status" Kind="OutputPin" />
+                    </Node>
+                    <Node Bounds="483,368,90,26" Id="QwbGwpgDC3oO7aizsIPAV6">
+                      <p:NodeReference LastCategoryFullName="RPLidar4Net.Api.Data.HealthDataResponse" LastDependency="RPLidar4Net.Api.dll">
+                        <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
+                        <CategoryReference Kind="AssemblyCategory" Name="HealthDataResponse" />
+                        <Choice Kind="OperationCallFlag" Name="ErrorCode" />
+                      </p:NodeReference>
+                      <Pin Id="NRkH4yqEYNAMcWdbcGG3mO" Name="Input" Kind="StateInputPin" />
+                      <Pin Id="HvASMB6VqDHMSgrfbVF2jL" Name="Output" Kind="StateOutputPin" />
+                      <Pin Id="Vn44i6Ayv1FN10xhicq01O" Name="Error Code" Kind="OutputPin" />
+                    </Node>
+                    <Node Bounds="401,327,86,26" Id="V58cKLtOgd8QDgyGEnGgop">
+                      <p:NodeReference LastCategoryFullName="RPLidar4Net.IO.RPLidarSerialDevice" LastDependency="RPLidar4Net.IO.dll">
+                        <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
+                        <Choice Kind="OperationCallFlag" Name="GetHealth" />
+                      </p:NodeReference>
+                      <Pin Id="TLZgIf27yT2OItMm3H9yb4" Name="Input" Kind="StateInputPin" />
+                      <Pin Id="Tm9O71rEWZ1LnX4YwxRrjd" Name="Output" Kind="StateOutputPin" />
+                      <Pin Id="GQQykxD1NXgMNx8yI2lylj" Name="Result" Kind="OutputPin" />
+                    </Node>
                   </Patch>
-                  <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" />
+                  <ControlPoint Id="EH8AiIIUV8FOghvPnRX73F" Bounds="513,192" Alignment="Top" />
+                  <ControlPoint Id="S1qB8b9T6hMNUEqVP208jO" Bounds="516,504" Alignment="Bottom" />
+                  <ControlPoint Id="OxP88YpMBhVMvUjySEa5Zz" Bounds="403,504" Alignment="Bottom" />
+                  <ControlPoint Id="SFbLRpliLNbOLdTL3BBfqt" Bounds="409,192" Alignment="Top" />
+                  <ControlPoint Id="IAshIjSsuC2NZpTIbia3eS" Bounds="437,504" Alignment="Bottom" />
+                  <ControlPoint Id="EDgHe1mO9c9LLpBDWaF2l7" Bounds="432,192" Alignment="Top" />
+                  <ControlPoint Id="Oo0ShZ5ofiZOwXBJTiQ3u2" Bounds="460,504" Alignment="Bottom" />
+                  <ControlPoint Id="HIyjCMapFaQM3d4xxJHeoC" Bounds="473,192" Alignment="Top" />
+                  <ControlPoint Id="JE4OrABIj6eQVqfWfpKEOL" Bounds="609,504" Alignment="Bottom" />
+                  <ControlPoint Id="SdM5S8b6HobPvS9vScdYeL" Bounds="558,192" Alignment="Top" />
+                  <ControlPoint Id="JkAXREklO0dNZb2MqKRDvT" Bounds="648,504" Alignment="Bottom" />
+                  <ControlPoint Id="PWxfqbWllP1PaoYpsX1ttC" Bounds="582,192" Alignment="Top" />
                 </Node>
-                <Node Bounds="526,688,80,26" Id="GnsekTzQOHTLRImhET1NDZ">
+                <Node Bounds="523,737,80,26" Id="GnsekTzQOHTLRImhET1NDZ">
                   <p:NodeReference LastCategoryFullName="Reactive.Disposables.SerialDisposable" LastDependency="VL.CoreLib.vl">
                     <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
                     <CategoryReference Kind="ClassType" Name="SerialDisposable" />
@@ -179,16 +203,18 @@
                   <Pin Id="DoT1Bzy7A4OOwCPM5TSwZ4" Name="Output" Kind="StateOutputPin" />
                 </Node>
               </Patch>
-              <ControlPoint Id="QBWboaTFymHObcRatIIpuh" Bounds="405,735" Alignment="Bottom" />
-              <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="489,58" Alignment="Top" />
-              <ControlPoint Id="AzSRFiXcojYPOqX5HMNcT2" Bounds="622,58" Alignment="Top" />
+              <ControlPoint Id="QBWboaTFymHObcRatIIpuh" Bounds="405,792" Alignment="Bottom" />
+              <ControlPoint Id="IxTiuKu2V3qNFZxjyHjRNE" Bounds="422,84" Alignment="Top" />
+              <ControlPoint Id="JB5Ypq6E8w1Mzq35942sbe" Bounds="392,84" Alignment="Top" />
+              <ControlPoint Id="M1hi7QaEFxbNXKYO1LmCFh" Bounds="443,792" Alignment="Bottom" />
+              <ControlPoint Id="BrzAW9sae5wNxFqY8OlFVH" Bounds="513,792" Alignment="Bottom" />
+              <ControlPoint Id="GxlQTjPOUMsME3f1NqFXZF" Bounds="495,84" Alignment="Top" />
+              <ControlPoint Id="AzSRFiXcojYPOqX5HMNcT2" Bounds="660,84" Alignment="Top" />
+              <ControlPoint Id="HRsaC7vGXIhPXd4mnxBWn5" Bounds="614,792" Alignment="Bottom" />
+              <ControlPoint Id="IgdAyWeNCU3OMUBP7lt9R9" Bounds="653,792" Alignment="Bottom" />
             </Node>
-            <ControlPoint Id="EhMjUkx53p2Poy21nrDqEY" Bounds="406,2" />
-            <Node Bounds="398,788,65,19" Id="IaxT6it7g11OP9agD9qkQj">
+            <ControlPoint Id="EhMjUkx53p2Poy21nrDqEY" Bounds="423,58" />
+            <Node Bounds="398,878,65,19" Id="IaxT6it7g11OP9agD9qkQj">
               <p:NodeReference LastCategoryFullName="Primitive.Object" LastDependency="VL.CoreLib.vl">
                 <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
                 <Choice Kind="OperationCallFlag" Name="IsAssigned" />
@@ -197,7 +223,7 @@
               <Pin Id="H3vRfRe1IHhLZEMHgZPxDZ" Name="Result" Kind="OutputPin" />
               <Pin Id="A5kcdegmiOQL1NSI9hIZLY" Name="Not Assigned" Kind="OutputPin" />
             </Node>
-            <Node Bounds="396,922,521,304" Id="FZEMJu4hMdgQPYerpmcLnd">
+            <Node Bounds="398,925,606,439" Id="FZEMJu4hMdgQPYerpmcLnd">
               <p:NodeReference LastCategoryFullName="Primitive" LastDependency="Builtin">
                 <Choice Kind="StatefulRegion" Name="Region (Stateful)" Fixed="true" />
                 <CategoryReference Kind="Category" Name="Primitive" />
@@ -207,16 +233,7 @@
               <Patch Id="FZOwHkM8XsfPeUHxJXgHV8" ManuallySortedPins="true">
                 <Patch Id="CvEl5NOQkJKMgfyTTYSbAV" Name="Create" ManuallySortedPins="true" />
                 <Patch Id="JmpuO5NSKjEOdtgNVA0fOD" Name="Then" ManuallySortedPins="true" />
-                <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" />
-                    <Choice Kind="OperationCallFlag" Name="StartScan" />
-                  </p:NodeReference>
-                  <Pin Id="FHRv8jFSZ53PWohPWXY778" Name="Input" Kind="StateInputPin" />
-                  <Pin Id="NR70UgKSHM7Pfyr1Wgwihl" Name="Output" Kind="StateOutputPin" />
-                  <Pin Id="SGnsWp9Z4MVLtjP6POqyj0" Name="Apply" Kind="InputPin" />
-                </Node>
-                <Node Bounds="408,1113,86,26" Id="H1jVQHZ2oEvQbiE0oSroGu">
+                <Node Bounds="412,1258,86,26" Id="H1jVQHZ2oEvQbiE0oSroGu">
                   <p:NodeReference LastCategoryFullName="RPLidar4Net.IO.RPLidarSerialDevice" LastDependency="RPLidar4Net.IO.dll">
                     <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
                     <Choice Kind="OperationCallFlag" Name="StopScan" />
@@ -225,7 +242,7 @@
                   <Pin Id="QvHyv5DHlVHPpBxL2AA6NF" Name="Output" Kind="StateOutputPin" />
                   <Pin Id="NY9uKDbYqz0MNgyWR7t7JW" Name="Apply" Kind="InputPin" />
                 </Node>
-                <Node Bounds="597,973,56,19" Id="DaeMoqKyK7EPE8ilmC2Nv5">
+                <Node Bounds="564,968,56,19" Id="DaeMoqKyK7EPE8ilmC2Nv5">
                   <p:NodeReference LastCategoryFullName="Control" LastDependency="VL.CoreLib.vl">
                     <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
                     <Choice Kind="ProcessAppFlag" Name="TogEdge" />
@@ -235,7 +252,7 @@
                   <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">
+                <Node Bounds="493,994,37,19" Id="RSKpT6q0yaxLOGGdLQ7bck">
                   <p:NodeReference LastCategoryFullName="Primitive.Boolean" LastDependency="VL.CoreLib.vl">
                     <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
                     <Choice Kind="OperationCallFlag" Name="AND" />
@@ -244,7 +261,7 @@
                   <Pin Id="VHPalXxlCYrPH5PD980yKt" Name="Input 2" Kind="InputPin" />
                   <Pin Id="OilrU4674yHOiIDjFLNWvb" Name="Output" Kind="StateOutputPin" />
                 </Node>
-                <Node Bounds="517,1012,30,19" Id="IJT2QK0D230Ly0wgOpAVZ1">
+                <Node Bounds="493,1032,30,19" Id="IJT2QK0D230Ly0wgOpAVZ1">
                   <p:NodeReference LastCategoryFullName="Primitive.Boolean" LastDependency="VL.CoreLib.vl">
                     <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
                     <Choice Kind="OperationCallFlag" Name="OR" />
@@ -253,63 +270,100 @@
                   <Pin Id="VlBGS9f4kG0LFRJ92I07xi" Name="Input 2" Kind="InputPin" />
                   <Pin Id="KjQcAe6nPaQNxepoqGRchi" Name="Output" Kind="StateOutputPin" />
                 </Node>
-                <Node Bounds="744,1043,149,143" Id="JwYDpANv2eROGIwcgJ7hnE">
+                <Node Bounds="703,1028,289,266" Id="VSBHlidp2zUQFYvEjlMyKX">
                   <p:NodeReference LastCategoryFullName="Primitive" LastDependency="Builtin">
                     <Choice Kind="StatefulRegion" Name="Region (Stateful)" Fixed="true" />
                     <CategoryReference Kind="Category" Name="Primitive" />
                     <Choice Kind="ProcessStatefulRegion" Name="Cache" />
                   </p:NodeReference>
-                  <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">
+                  <Pin Id="NSeYFcqARK6L91ZxqUgDyp" Name="Force" Kind="InputPin" />
+                  <Pin Id="JXfSTVEoBVHLomxKix6htM" Name="Dispose Cached Outputs" Kind="InputPin" />
+                  <Pin Id="EjCnjPGyijXMudRfIRs892" Name="Has Changed" Kind="OutputPin" />
+                  <Patch Id="H3G7MGMToHSN2Lu6ix1YwL" ManuallySortedPins="true">
+                    <Patch Id="C6kPBLKA33TLiOgfhRisCb" Name="Create" ManuallySortedPins="true" />
+                    <Patch Id="GUoCEjQjdJYMovAk4aCDqa" Name="Then" ManuallySortedPins="true" />
+                    <Node Bounds="715,1057,110,26" Id="TwLUksS9tHxORb0ds2mv8U">
+                      <p:NodeReference LastCategoryFullName="RPLidar4Net.IO.RPLidarSerialDevice" LastDependency="RPLidar4Net.IO.dll">
                         <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
-                        <CategoryReference Kind="AssemblyCategory" Name="HealthDataResponse" NeedsToBeDirectParent="true" />
-                        <Choice Kind="OperationCallFlag" Name="Status" />
+                        <Choice Kind="OperationCallFlag" Name="GetTypicalScanMode" />
                       </p:NodeReference>
-                      <Pin Id="HReeM7ts1SPPTnGEF6nUgl" Name="Input" Kind="StateInputPin" />
-                      <Pin Id="CTqURAE1H3GMFVVofLCFAG" Name="Output" Kind="StateOutputPin" />
-                      <Pin Id="L0L2iO0d3R2NYrLLy5b5zp" Name="Status" Kind="OutputPin" />
+                      <Pin Id="JYGnkH26fKrNhJJqPwRVv9" Name="Input" Kind="StateInputPin" />
+                      <Pin Id="NHUhDabD7weMTeE7gSxvtN" Name="Output" Kind="StateOutputPin" />
+                      <Pin Id="Ar5Pc0BGaUuOOEMVkO1b05" Name="Result" Kind="OutputPin" />
                     </Node>
-                    <Node Bounds="788,1107,90,26" Id="MZNFkbMuDHcPQqpy2aREw7">
-                      <p:NodeReference LastCategoryFullName="RPLidar4Net.Api.Data.HealthDataResponse" LastDependency="RPLidar4Net.Api.dll">
+                    <Node Bounds="717,1229,93,26" Id="LtswudjdF57QSicXfKriQj">
+                      <p:NodeReference LastCategoryFullName="RPLidar4Net.IO.RPLidarSerialDevice" LastDependency="RPLidar4Net.IO.dll">
                         <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
-                        <CategoryReference Kind="AssemblyCategory" Name="HealthDataResponse" />
-                        <Choice Kind="OperationCallFlag" Name="ErrorCode" />
+                        <Choice Kind="OperationCallFlag" Name="StartExpressScan" />
                       </p:NodeReference>
-                      <Pin Id="CyBdxXZtJlqNgl5Od9R598" Name="Input" Kind="StateInputPin" />
-                      <Pin Id="E4znlWxppUIMyt8uJCvZfa" Name="Output" Kind="StateOutputPin" />
-                      <Pin Id="TaJHFdLUoWfQBvZvvUnY3f" Name="Error Code" Kind="OutputPin" />
+                      <Pin Id="RdfDVRw50v9MGcrzaXTO9f" Name="Input" Kind="StateInputPin" />
+                      <Pin Id="BfZG4ANjcVMMICx8x0oLUs" Name="Scan Mode" Kind="InputPin" DefaultValue="0" />
+                      <Pin Id="RCG16w2FgjbOc3KzBbyS4G" Name="Output" Kind="StateOutputPin" />
                     </Node>
-                    <Node Bounds="756,1066,86,26" Id="H2wv2ceH8l4LQT95h8x2zr">
+                    <Node Bounds="715,1119,103,26" Id="OOOggZGxJWfMQZOVZzhaWJ">
                       <p:NodeReference LastCategoryFullName="RPLidar4Net.IO.RPLidarSerialDevice" LastDependency="RPLidar4Net.IO.dll">
                         <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
-                        <Choice Kind="OperationCallFlag" Name="GetHealth" />
+                        <Choice Kind="OperationCallFlag" Name="GetScanModeName" />
+                      </p:NodeReference>
+                      <Pin Id="PSz79GXVR62P56QyXxULn7" Name="Input" Kind="StateInputPin" />
+                      <Pin Id="AYZJixMuYXeLhT5e8s4RYb" Name="Scan Mode" Kind="InputPin" />
+                      <Pin Id="C9PmftSgOwrPDhHdVCgy1v" Name="Output" Kind="StateOutputPin" />
+                      <Pin Id="BvIkTe8hMmzPxAeN45RL20" Name="Result" Kind="OutputPin" />
+                    </Node>
+                    <Node Bounds="715,1179,133,26" Id="RbyW21BVlOHPs9Uqlty4Rs">
+                      <p:NodeReference LastCategoryFullName="RPLidar4Net.IO.RPLidarSerialDevice" LastDependency="RPLidar4Net.IO.dll">
+                        <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
+                        <Choice Kind="OperationCallFlag" Name="GetScanModeAnswerType" />
                       </p:NodeReference>
-                      <Pin Id="RgTaB2SODdAQGgUNmldZQn" Name="Input" Kind="StateInputPin" />
-                      <Pin Id="GyakmlGd32FMGM3ZPNRcS8" Name="Output" Kind="StateOutputPin" />
-                      <Pin Id="UyO7I8jLsPYNIfN8MvM8tt" Name="Result" Kind="OutputPin" />
+                      <Pin Id="NKK8ebB87AKL5uHfZAMDf3" Name="Input" Kind="StateInputPin" />
+                      <Pin Id="TaWeP5yKt6eQJ7T0g9TCxH" Name="Scan Mode" Kind="InputPin" />
+                      <Pin Id="OiawVRyWC0ULLMYxOAEJkL" Name="Output" Kind="StateOutputPin" />
+                      <Pin Id="HyvJ44Tz3iePMrw7LzP8eP" Name="Result" Kind="OutputPin" />
                     </Node>
+                    <Pad Id="OQZdnh2L1RrP9NoooTYwRk" Comment="Scan Mode" Bounds="821,1102,35,15" ShowValueBox="true" isIOBox="true" Value="4">
+                      <p:TypeAnnotation LastCategoryFullName="Primitive" LastDependency="VL.CoreLib.vl">
+                        <Choice Kind="TypeFlag" Name="Byte" />
+                      </p:TypeAnnotation>
+                    </Pad>
+                    <Pad Id="SBTQBpsDT6sLKo7NWOevQP" Bounds="835,1055,138,39" ShowValueBox="true" isIOBox="true" Value="todo: implement ExpressScan receiver">
+                      <p:TypeAnnotation LastCategoryFullName="Primitive" LastDependency="VL.CoreLib.vl">
+                        <Choice Kind="TypeFlag" Name="String" />
+                      </p:TypeAnnotation>
+                      <p:ValueBoxSettings>
+                        <p:fontsize p:Type="Int32">9</p:fontsize>
+                        <p:stringtype p:Assembly="VL.Core" p:Type="VL.Core.StringType">Comment</p:stringtype>
+                      </p:ValueBoxSettings>
+                    </Pad>
                   </Patch>
-                  <ControlPoint Id="Vq0R5iEzQowMpu5DUJAbYo" Bounds="856,1180" Alignment="Bottom" />
-                  <ControlPoint Id="JFzP34NFER4Oj6SdR7IjMG" Bounds="878,1180" Alignment="Bottom" />
+                  <ControlPoint Id="CxTOBY9xK4OQXGntu7C5F8" Bounds="832,1288" Alignment="Bottom" />
+                  <ControlPoint Id="R398XrdHv8HLx5Nyfni1CZ" Bounds="857,1288" Alignment="Bottom" />
+                </Node>
+                <Node Bounds="412,1072,86,26" Id="DKMBmkbMHaQMO9z89Bxkka">
+                  <p:NodeReference LastCategoryFullName="RPLidar4Net.IO.RPLidarSerialDevice" LastDependency="RPLidar4Net.IO.dll">
+                    <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
+                    <Choice Kind="OperationCallFlag" Name="StartScan" />
+                  </p:NodeReference>
+                  <Pin Id="R6HyFsGaMoSLlfIL8c8Adh" Name="Input" Kind="StateInputPin" />
+                  <Pin Id="SimPyAZHjaQMrfzG3xqnTy" Name="Output" Kind="StateOutputPin" />
+                  <Pin Id="VHyxfY3kYV9Ntpk9llH257" Name="Apply" Kind="InputPin" />
+                </Node>
+                <Node Bounds="412,1308,86,26" Id="ICfeajMKqtuNQglBngyLff">
+                  <p:NodeReference LastCategoryFullName="RPLidar4Net.IO.RPLidarSerialDevice" LastDependency="RPLidar4Net.IO.dll">
+                    <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
+                    <Choice Kind="OperationCallFlag" Name="IsConnected" />
+                  </p:NodeReference>
+                  <Pin Id="HoByTTXHamaNVaOh7w71on" Name="Input" Kind="StateInputPin" />
+                  <Pin Id="E8PLOVISSj5QOoAbZdFtKX" Name="Output" Kind="StateOutputPin" />
+                  <Pin Id="LY3AFiPMcRrO1FqOmUG5Vj" Name="Is Connected" Kind="OutputPin" />
                 </Node>
               </Patch>
-              <ControlPoint Id="GA3QZLin3wHNtMb3mL5XvF" Bounds="412,928" Alignment="Top" />
-              <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="824,1220" Alignment="Bottom" />
-              <ControlPoint Id="Jtrp8sTmxGJNpNVwyVQ75b" Bounds="615,928" Alignment="Top" />
-              <ControlPoint Id="Aemf4SUwVQQPAtSMzP2POF" Bounds="838,928" Alignment="Top" />
-              <ControlPoint Id="Hnlacqe37i9MwLtPz7rQTy" Bounds="686,1220" Alignment="Bottom" />
+              <ControlPoint Id="GA3QZLin3wHNtMb3mL5XvF" Bounds="412,931" Alignment="Top" />
+              <ControlPoint Id="MP4G1F7cXrLQTuKnyub8zM" Bounds="416,1358" Alignment="Bottom" />
+              <ControlPoint Id="PQvgKGHeffNMLEyCMpToqz" Bounds="497,1358" Alignment="Bottom" />
+              <ControlPoint Id="QO4oiNrFKsKO4O7XTOMFux" Bounds="719,931" Alignment="Top" />
             </Node>
-            <ControlPoint Id="OdTKCcmGAZLO2ta9BZa0aV" Bounds="482,5" />
-            <Node Bounds="172,37,75,26" Id="QfVUKR88wmRP6IJVqczqpT">
+            <ControlPoint Id="OdTKCcmGAZLO2ta9BZa0aV" Bounds="395,25" />
+            <Node Bounds="168,73,75,26" Id="QfVUKR88wmRP6IJVqczqpT">
               <p:NodeReference LastCategoryFullName="Reactive.Disposables.SerialDisposable" LastDependency="VL.CoreLib.vl">
                 <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
                 <CategoryReference Kind="ClassType" Name="SerialDisposable" />
@@ -318,8 +372,8 @@
               <Pin Id="QUg6UD4js8PMthm1hO309C" Name="Node Context" Kind="InputPin" IsHidden="true" />
               <Pin Id="LmD2k4hEr0SMlfe8O1tEDw" Name="Output" Kind="StateOutputPin" />
             </Node>
-            <Pad Id="Ffkh99cim5NNAoPhcJDh7Z" Bounds="174,85" />
-            <Node Bounds="126,146,58,26" Id="CbyRHwenRp0PpGJ0zvoctF">
+            <Pad Id="Ffkh99cim5NNAoPhcJDh7Z" Bounds="170,121" />
+            <Node Bounds="122,182,58,26" Id="CbyRHwenRp0PpGJ0zvoctF">
               <p:NodeReference LastCategoryFullName="Primitive.IDisposable" LastDependency="VL.CoreLib.vl">
                 <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
                 <CategoryReference Kind="MutableInterfaceType" Name="IDisposable" NeedsToBeDirectParent="true" />
@@ -328,7 +382,7 @@
               <Pin Id="KOuNczde5ecNCEIBxMBSl9" Name="Input" Kind="StateInputPin" />
               <Pin Id="GrsuHzagOldLUazgRADa9c" Name="Output" Kind="StateOutputPin" />
             </Node>
-            <Node Bounds="127,930,172,329" Id="HFR7wjyYlZtLDyWjUYgoqs">
+            <Node Bounds="127,930,172,350" Id="HFR7wjyYlZtLDyWjUYgoqs">
               <p:NodeReference LastCategoryFullName="Reactive" LastDependency="VL.CoreLib.vl">
                 <Choice Kind="StatefulRegion" Name="Region (Stateful)" Fixed="true" />
                 <CategoryReference Kind="Category" Name="Reactive" NeedsToBeDirectParent="true" />
@@ -345,7 +399,7 @@
                   <Pin Id="BFg3uJLUpsRNJvJpYOw96u" Name="Output" Kind="OutputPin" />
                 </Patch>
                 <ControlPoint Id="NPIxtc37rLYLjWEYfeuS6T" Bounds="142,938" />
-                <ControlPoint Id="SGEy4hibULiM1Z4zFdSnTU" Bounds="196,1252" />
+                <ControlPoint Id="SGEy4hibULiM1Z4zFdSnTU" Bounds="196,1273" />
                 <Node Bounds="139,1003,83,26" Id="LZR0KKimcjvMCxgwyMgXtM">
                   <p:NodeReference LastCategoryFullName="RPLidar4Net.IO.NewScanEventArgs" LastDependency="RPLidar4Net.IO.dll">
                     <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
@@ -365,7 +419,7 @@
                   <Pin Id="TSaoMgPj1KtL39FzKJ1vwf" Name="Input" Kind="StateInputPin" />
                   <Pin Id="OOlLerOJFIHOhnU8PPgP4E" Name="Event Args" Kind="OutputPin" />
                 </Node>
-                <Node Bounds="181,1062,106,176" Id="DYgLrfsUgZ7NhZ0seQGIes">
+                <Node Bounds="181,1062,106,197" Id="DYgLrfsUgZ7NhZ0seQGIes">
                   <p:NodeReference LastCategoryFullName="Primitive" LastDependency="Builtin">
                     <Choice Kind="StatefulRegion" Name="Region (Stateful)" Fixed="true" />
                     <CategoryReference Kind="Category" Name="Primitive" />
@@ -396,7 +450,7 @@
                       <Pin Id="OpfooKaRDN2PJ5Zz8eMZh0" Name="Output" Kind="OutputPin" />
                       <Pin Id="NeEwLG8x9dVMYbHAikDP0Y" Name="Distance" Kind="OutputPin" />
                     </Node>
-                    <Node Bounds="194,1199,62,19" Id="PP7aowY8GrmM40oyxZsaPj">
+                    <Node Bounds="194,1220,62,19" Id="PP7aowY8GrmM40oyxZsaPj">
                       <p:NodeReference LastCategoryFullName="2D" LastDependency="VL.CoreLib.vl">
                         <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
                         <Choice Kind="OperationCallFlag" Name="FromPolar" />
@@ -405,7 +459,7 @@
                       <Pin Id="PoYOFqWsENMLPvkPcmzTKL" Name="Radius" Kind="InputPin" />
                       <Pin Id="TMCl3lePwWmMpwDneyaCvr" Name="Output" Kind="OutputPin" />
                     </Node>
-                    <Node Bounds="194,1171,25,19" Id="VEinJQUgS94PrqWUT1Q7d8">
+                    <Node Bounds="194,1192,25,19" Id="VEinJQUgS94PrqWUT1Q7d8">
                       <p:NodeReference LastCategoryFullName="Math" LastDependency="VL.CoreLib.vl">
                         <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
                         <Choice Kind="OperationCallFlag" Name="/" />
@@ -414,7 +468,7 @@
                       <Pin Id="BiYzpv8hLCLOUxcB3ia2oT" Name="Input 2" Kind="InputPin" DefaultValue="360" />
                       <Pin Id="S3eclN5HYQXNvBQhqyAqXL" Name="Output" Kind="OutputPin" />
                     </Node>
-                    <Node Bounds="250,1172,25,19" Id="F4I11wSfHuiN1LUHH7MkH2">
+                    <Node Bounds="250,1193,25,19" Id="F4I11wSfHuiN1LUHH7MkH2">
                       <p:NodeReference LastCategoryFullName="Math" LastDependency="VL.CoreLib.vl">
                         <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
                         <Choice Kind="OperationCallFlag" Name="*" />
@@ -425,11 +479,11 @@
                     </Node>
                   </Patch>
                   <ControlPoint Id="AoO9gM993vfPJcJZg0G5bq" Bounds="221,1068" Alignment="Top" />
-                  <ControlPoint Id="I9tCpMnQC8GOfLy8k4636k" Bounds="196,1232" Alignment="Bottom" />
+                  <ControlPoint Id="I9tCpMnQC8GOfLy8k4636k" Bounds="196,1253" Alignment="Bottom" />
                 </Node>
               </Patch>
             </Node>
-            <ControlPoint Id="AWD6jh9GI1WQXxksY7DNfs" Bounds="324,1142" />
+            <ControlPoint Id="AWD6jh9GI1WQXxksY7DNfs" Bounds="318,1116" />
             <!--
 
     ************************ GetInfo (Internal) ************************
@@ -566,14 +620,28 @@
                 <Link Id="SQDCZCzVWrEON8rO1dpHn4" Ids="NZJVS1ANlTmN7IlTuZxdGa,KQIJfdRrgesMzwYNTQWadk" />
               </Patch>
             </Node>
-            <ControlPoint Id="RPouVIkl16KO5u34O4zR2O" Bounds="514,770" />
-            <ControlPoint Id="Uy5Nn8rJ3Z3P6L8EITxbiN" Bounds="600,881" />
-            <ControlPoint Id="J3UiYJSEDaIQWQXnEusI1j" Bounds="129,1306" />
-            <ControlPoint Id="LENlnKszTgOQSzTiYyRn8N" Bounds="548,4" />
-            <ControlPoint Id="TiiO7sX6xPFOKQC3ACxnWR" Bounds="660,1" />
-            <ControlPoint Id="SWsQrDx9lE6OTCsbbm4TRK" Bounds="856,852" />
-            <ControlPoint Id="FFyx36WRZxxLsu3c2u9l8A" Bounds="825,1259" />
-            <ControlPoint Id="BoQ2ESvIrp5PPqBoFtYCs8" Bounds="899,1262" />
+            <ControlPoint Id="RPouVIkl16KO5u34O4zR2O" Bounds="514,824" />
+            <ControlPoint Id="Uy5Nn8rJ3Z3P6L8EITxbiN" Bounds="567,891" />
+            <ControlPoint Id="J3UiYJSEDaIQWQXnEusI1j" Bounds="129,1327" />
+            <ControlPoint Id="LENlnKszTgOQSzTiYyRn8N" Bounds="496,54" />
+            <ControlPoint Id="TiiO7sX6xPFOKQC3ACxnWR" Bounds="660,54" />
+            <ControlPoint Id="FFyx36WRZxxLsu3c2u9l8A" Bounds="599,824" />
+            <ControlPoint Id="BoQ2ESvIrp5PPqBoFtYCs8" Bounds="679,824" />
+            <ControlPoint Id="F4wUC97HF1FOZE6oRu6l7c" Bounds="498,1397" />
+            <Node Bounds="316,1154,25,19" Id="KwE1nuu8KfdPyCU0NtobTd">
+              <p:NodeReference LastCategoryFullName="Math" LastDependency="VL.CoreLib.vl">
+                <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
+                <Choice Kind="OperationCallFlag" Name="/" />
+              </p:NodeReference>
+              <Pin Id="Aaub7cF1SXJMAzApqomCXn" Name="Input" Kind="InputPin" />
+              <Pin Id="DFBnhyWxizVOi0BN4fICsB" Name="Input 2" Kind="InputPin" />
+              <Pin Id="D7jZxP07yVbLWTgvqXWIHN" Name="Output" Kind="OutputPin" />
+            </Node>
+            <Pad Id="AFYE88Y7wFuOr5H3fdl6UQ" Comment="" Bounds="348,1134,37,15" ShowValueBox="true" isIOBox="true" Value="1000">
+              <p:TypeAnnotation LastCategoryFullName="Primitive" LastDependency="VL.CoreLib.vl">
+                <Choice Kind="TypeFlag" Name="Float32" />
+              </p:TypeAnnotation>
+            </Pad>
           </Canvas>
           <Patch Id="ImsgshyV2VGOHwQNusGeu3" Name="Update" ManuallySortedPins="true">
             <Pin Id="NykgAyEmVhkMSgYJun94Ue" Name="Port Name" Kind="InputPin" DefaultValue="COM3">
@@ -582,15 +650,15 @@
               </p:TypeAnnotation>
             </Pin>
             <Pin Id="FIpJzZBwnctMkNNVE2KlZz" Name="Baud Rate" Kind="InputPin" DefaultValue="115200" />
-            <Pin Id="OoO6Bqt44NxPH2qm6oRb3n" Name="Timeout" Kind="InputPin" DefaultValue="10000" />
-            <Pin Id="B4VKiw53vAxL5KwKQzw796" Name="Scaling" Kind="InputPin" DefaultValue="0.001" />
+            <Pin Id="OoO6Bqt44NxPH2qm6oRb3n" Name="Timeout" Kind="InputPin" DefaultValue="2000" />
+            <Pin Id="B4VKiw53vAxL5KwKQzw796" Name="Scaling" Kind="InputPin" DefaultValue="1" />
             <Pin Id="PCeRtwEz0U3P74sBD2oys9" Name="Scan" Kind="InputPin" DefaultValue="True" />
             <Pin Id="S21RHmnd6aQQUAVG2zpikN" Name="Enabled" Kind="InputPin" />
             <Pin Id="DaK6CS4qwdVOKzkTrpHxjx" Name="Result" Kind="OutputPin" />
             <Pin Id="KcUAozRE7X6Lbfrp1qeluJ" Name="Device Info" Kind="OutputPin" />
-            <Pin Id="Q6cYJZgIXlbO0cX33lvDul" Name="Get Health" Kind="InputPin" />
             <Pin Id="KI1PV8eVyUpL4CmM0dcXDO" Name="Error Code" Kind="OutputPin" />
             <Pin Id="CPkuMJ0VB9GMOnEMAlxeFB" Name="Status" Kind="OutputPin" />
+            <Pin Id="U104IdzQsCHNojZmKPU5gl" Name="Is Connected" Kind="OutputPin" />
           </Patch>
           <ProcessDefinition Id="KRD4XyBpdnWLOk1cz72HGN">
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@@ -605,7 +673,6 @@
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@@ -726,6 +806,24 @@
           <p:stringtype p:Assembly="VL.Core" p:Type="VL.Core.StringType">Comment</p:stringtype>
         </p:ValueBoxSettings>
       </Pad>
+      <Pad Id="Czs6kJQ0FIFL5BiTvqNRyU" Bounds="451,267,251,19" ShowValueBox="true" isIOBox="true" Value="https://github.com/Slamtec/rplidar_sdk/tree/master/sdk/src">
+        <p:TypeAnnotation>
+          <Choice Kind="TypeFlag" Name="String" />
+        </p:TypeAnnotation>
+        <p:ValueBoxSettings>
+          <p:fontsize p:Type="Int32">9</p:fontsize>
+          <p:stringtype p:Assembly="VL.Core" p:Type="VL.Core.StringType">Link</p:stringtype>
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+      </Pad>
+      <Pad Id="Hiw1fOfOwOgPZD1du8qigk" Bounds="451,228,296,39" ShowValueBox="true" isIOBox="true" Value="What's missing in the specification can be found in the reference implementation">
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+          <Choice Kind="TypeFlag" Name="String" />
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+        <p:ValueBoxSettings>
+          <p:fontsize p:Type="Int32">9</p:fontsize>
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@@ -748,7 +846,7 @@
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-  <NugetDependency Id="PYNQDKGqWq3Lo5hYuSMJqC" Location="RPLidar4Net.Api" Version="0.2.0" />
-  <NugetDependency Id="N3VWXd4nLsOO0XRcadqFlS" Location="RPLidar4Net.Core" Version="0.3.0" />
-  <NugetDependency Id="Eznell8XgEhOZSz9fe6Ell" Location="RPLidar4Net.IO" Version="0.3.0" />
+  <PlatformDependency Id="L8X1QgSpy2UNANdyizRTgL" Location="./lib/netstandard2.0/RPLidar4Net.Api.dll" />
+  <PlatformDependency Id="JXbSI78pRccQO5SyHr8Nni" Location="./lib/netstandard2.0/RPLidar4Net.Core.dll" />
+  <PlatformDependency Id="KZs8ZIysENZPyzTbtATJL1" Location="./lib/netstandard2.0/RPLidar4Net.IO.dll" />
 </Document>
\ No newline at end of file
diff --git a/deployment/VL.Devices.RPLidar.nuspec b/deployment/VL.Devices.RPLidar.nuspec
index 15510bc..9cae2fe 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>0.0.3-alpha</version>
+    <version>0.0.4-alpha</version>
     <title>VL.Devices.RPLidar</title>
     <authors>vvvv</authors>
     <projectUrl>http://vvvv.org</projectUrl>
@@ -14,13 +14,11 @@
     <license type="expression">LGPL-3.0-only</license>
     <icon>icon\nugeticon.png</icon>
     <readme>docs\README.md</readme>
-	<dependencies>
-		<dependency id="RPLidar4Net.IO" version="0.3.0" />
-    </dependencies>
   </metadata>
   <files>
     <file src="..\*.vl" target="" exclude="" />
     <file src="..\help\**" target="help\" exclude="" />
+	<file src="..\lib\**\*.dll" target="lib\" exclude="" />
     <file src="nugeticon.png" target="icon\" />
     <file src="..\README.md" target="docs\" />
   </files>
diff --git a/help/Explanation Overview.vl b/help/Explanation Overview.vl
index 856ac46..735ee78 100644
--- a/help/Explanation Overview.vl	
+++ b/help/Explanation Overview.vl	
@@ -1,6 +1,6 @@
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-  <NugetDependency Id="V5Y6NXxV8SxNelSJIhFmES" Location="VL.CoreLib" Version="2024.6.7-0181-gdf16f593e1" />
+<Document xmlns:p="property" xmlns:r="reflection" Id="Fb82KdtkBXlMb6KeMCmoOi" LanguageVersion="2024.6.6" Version="0.128">
+  <NugetDependency Id="V5Y6NXxV8SxNelSJIhFmES" Location="VL.CoreLib" Version="2024.6.6" />
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@@ -15,7 +15,7 @@
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+          <Node Bounds="164,312,105,19" Id="P6lWJCqWqbsQGezq6uDadC">
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@@ -30,16 +30,16 @@
             <Pin Id="FOQNwLpOaGwNIumrQdHHtU" Name="Enabled" Kind="InputPin" />
             <Pin Id="BUbMAdkcFi7QWlEn6gWKa0" Name="Result" Kind="OutputPin" />
             <Pin Id="Rc74yTEGqBxLuGApCYJYZS" Name="Device Info" 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" />
+            <Pin Id="Cifs31j52cmNqQHf7Patp3" Name="Is Connected" Kind="OutputPin" />
           </Node>
-          <Pad Id="KcFjXUYy8sCLAxrtWa9fmw" Comment="Port Name" Bounds="166,141,57,15" ShowValueBox="true" isIOBox="true" Value="COM10">
+          <Pad Id="KcFjXUYy8sCLAxrtWa9fmw" Comment="Port Name" Bounds="166,180,57,15" ShowValueBox="true" isIOBox="true" Value="COM11">
             <p:TypeAnnotation LastCategoryFullName="IO.Ports" LastDependency="VL.CoreLib.vl">
               <Choice Kind="TypeFlag" Name="ComPort" />
             </p:TypeAnnotation>
           </Pad>
-          <Pad Id="OZsz5vrKbv0NYKGr4YggbP" Comment="Enabled" Bounds="328,257,35,35" ShowValueBox="true" isIOBox="true" Value="True">
+          <Pad Id="OZsz5vrKbv0NYKGr4YggbP" Comment="Enabled" Bounds="328,266,35,35" ShowValueBox="true" isIOBox="true" Value="True">
             <p:TypeAnnotation LastCategoryFullName="Primitive" LastDependency="VL.CoreLib.vl">
               <Choice Kind="ImmutableTypeFlag" Name="Boolean" />
             </p:TypeAnnotation>
@@ -47,12 +47,12 @@
               <p:buttonmode p:Assembly="VL.UI.Forms" p:Type="VL.HDE.PatchEditor.Editors.ButtonModeEnum">Toggle</p:buttonmode>
             </p:ValueBoxSettings>
           </Pad>
-          <Node Bounds="164,642,125,19" Id="GblfBCXvMbcOLJvJXQiEfk">
+          <Node Bounds="167,869,125,19" Id="GblfBCXvMbcOLJvJXQiEfk">
             <p:NodeReference LastCategoryFullName="Graphics.Skia" LastDependency="VL.Skia.vl">
               <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
               <Choice Kind="ProcessAppFlag" Name="Renderer" />
             </p:NodeReference>
-            <Pin Id="TtZwAkgB6L6POCKCVeBp0T" Name="Bounds" Kind="InputPin" DefaultValue="1110, 107, 616, 439" IsHidden="true" />
+            <Pin Id="TtZwAkgB6L6POCKCVeBp0T" Name="Bounds" Kind="InputPin" DefaultValue="1033, 58, 865, 751" IsHidden="true" />
             <Pin Id="E4T12eGHLfyM8JKHktXwh2" Name="Save Bounds" Kind="InputPin" IsHidden="true" />
             <Pin Id="OtdWdAyA5IQPkiAnqvkqGy" Name="Bound to Document" Kind="InputPin" IsHidden="true" />
             <Pin Id="EjOusmlA2cdMmVkEAES3UR" Name="Node Context" Kind="InputPin" IsHidden="true" />
@@ -71,7 +71,7 @@
             <Pin Id="F2YRP3e180rP1Y7Y3fmnlF" Name="ClientBounds" Kind="OutputPin" />
             <Pin Id="N4viXE2xLQpNHuqrxPGIBu" Name="Render Time" Kind="OutputPin" />
           </Node>
-          <Node Bounds="164,563,85,19" Id="KVeavuVzeVBNnl7e57VABK">
+          <Node Bounds="333,753,85,19" Id="KVeavuVzeVBNnl7e57VABK">
             <p:NodeReference LastCategoryFullName="Graphics.Skia.Layers" LastDependency="VL.Skia.vl">
               <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
               <CategoryReference Kind="Category" Name="Layers" NeedsToBeDirectParent="true" />
@@ -79,13 +79,13 @@
             </p:NodeReference>
             <Pin Id="GKv4uJUsy6xMKd5JlBwcKP" Name="Node Context" Kind="InputPin" IsHidden="true" />
             <Pin Id="AjHtXXTKnzVP2Yso26AfNl" Name="Points" Kind="InputPin" />
-            <Pin Id="PuV4rWvxSS2QGi0TkaNmqx" Name="Size" Kind="InputPin" />
+            <Pin Id="PuV4rWvxSS2QGi0TkaNmqx" Name="Size" Kind="InputPin" DefaultValue="0.01" />
             <Pin Id="QLUYkCDBzXHOJk769tDUWV" Name="Shape" Kind="InputPin" />
             <Pin Id="CNLdOQzUrEbMZR7IdslCRp" Name="Paint" Kind="InputPin" />
             <Pin Id="OPqWRCuMwENO4ZyZJWw5eM" Name="Enabled" Kind="InputPin" />
             <Pin Id="BM3vCsSOR1DPnrpzyImBNg" Name="Output" Kind="OutputPin" />
           </Node>
-          <Node Bounds="164,612,125,19" Id="TTzuzLHJH4VMEYlYMImynW">
+          <Node Bounds="167,839,125,19" Id="TTzuzLHJH4VMEYlYMImynW">
             <p:NodeReference LastCategoryFullName="Graphics.Skia.Transform" LastDependency="VL.Skia.vl">
               <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
               <Choice Kind="ProcessAppFlag" Name="Camera" />
@@ -102,8 +102,8 @@
             <Pin Id="QCOWIGNOnQwOhnJbQvIWfs" Name="Zoom" Kind="OutputPin" />
             <Pin Id="VICvUFEBVs5MS4m28VVQ9n" Name="Idle" Kind="OutputPin" />
           </Node>
-          <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">
+          <Pad Id="EmU8dmFArX9PFgZl6kkRCN" Comment="Device Info" Bounds="191,401,286,62" ShowValueBox="true" isIOBox="true" />
+          <Pad Id="VUrf8KvubdZO0BlKh1LP21" Comment="Scan" Bounds="246,266,35,35" ShowValueBox="true" isIOBox="true" Value="True">
             <p:TypeAnnotation LastCategoryFullName="Primitive" LastDependency="VL.CoreLib.vl">
               <Choice Kind="ImmutableTypeFlag" Name="Boolean" />
             </p:TypeAnnotation>
@@ -111,7 +111,7 @@
               <p:buttonmode p:Assembly="VL.UI.Forms" p:Type="VL.HDE.PatchEditor.Editors.ButtonModeEnum">Toggle</p:buttonmode>
             </p:ValueBoxSettings>
           </Pad>
-          <Node Bounds="164,459,65,19" Id="KdcRiAcegUjOLtUAOHlBPG">
+          <Node Bounds="164,504,65,19" Id="KdcRiAcegUjOLtUAOHlBPG">
             <p:NodeReference LastCategoryFullName="Reactive" LastDependency="VL.CoreLib.vl">
               <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
               <Choice Kind="ProcessAppFlag" Name="HoldLatest" />
@@ -123,17 +123,8 @@
             <Pin Id="OIj5UjJZc1YMi3NP5wJ8LO" Name="Value" Kind="OutputPin" />
             <Pin Id="Ej10KLY4yKwLnrPs9fGequ" Name="On Data" Kind="OutputPin" />
           </Node>
-          <Pad Id="VjkH0KOUoRRPm4mxZn3EPC" Comment="On Data" Bounds="225,507,35,35" ShowValueBox="true" isIOBox="true" />
-          <Pad Id="FwJON1sozBYL8rSAbhGrkF" Comment="Scaling" Bounds="226,231,44,15" ShowValueBox="true" isIOBox="true" Value="0.001">
-            <p:TypeAnnotation LastCategoryFullName="Primitive" LastDependency="VL.CoreLib.vl">
-              <Choice Kind="TypeFlag" Name="Float32" />
-            </p:TypeAnnotation>
-            <p:ValueBoxSettings>
-              <p:precision p:Type="Int32">4</p:precision>
-              <p:stepsize p:Type="Single">0.01</p:stepsize>
-            </p:ValueBoxSettings>
-          </Pad>
-          <Pad Id="REri0xyV7Y4Nxa7iOEagMV" Bounds="389,564,325,19" ShowValueBox="true" isIOBox="true" Value="https://www.nuget.org/packages/VL.DBSCAN">
+          <Pad Id="VjkH0KOUoRRPm4mxZn3EPC" Comment="On Data" Bounds="226,545,35,35" ShowValueBox="true" isIOBox="true" />
+          <Pad Id="REri0xyV7Y4Nxa7iOEagMV" Bounds="540,678,325,19" ShowValueBox="true" isIOBox="true" Value="https://www.nuget.org/packages/VL.DBSCAN">
             <p:TypeAnnotation LastCategoryFullName="Primitive" LastDependency="VL.CoreLib.vl">
               <Choice Kind="TypeFlag" Name="String" />
             </p:TypeAnnotation>
@@ -142,7 +133,7 @@
               <p:stringtype p:Assembly="VL.Core" p:Type="VL.Core.StringType">Link</p:stringtype>
             </p:ValueBoxSettings>
           </Pad>
-          <Pad Id="UZlzf3LL3XpMsmZFf144v9" Bounds="389,586,309,19" ShowValueBox="true" isIOBox="true" Value="https://www.nuget.org/packages/VL.TrackObjects">
+          <Pad Id="UZlzf3LL3XpMsmZFf144v9" Bounds="540,700,309,19" ShowValueBox="true" isIOBox="true" Value="https://www.nuget.org/packages/VL.TrackObjects">
             <p:TypeAnnotation LastCategoryFullName="Primitive" LastDependency="VL.CoreLib.vl">
               <Choice Kind="TypeFlag" Name="String" />
             </p:TypeAnnotation>
@@ -151,7 +142,7 @@
               <p:stringtype p:Assembly="VL.Core" p:Type="VL.Core.StringType">Link</p:stringtype>
             </p:ValueBoxSettings>
           </Pad>
-          <Pad Id="F20Vnn0u56sQKMBDaA0q9F" Bounds="389,541,194,19" ShowValueBox="true" isIOBox="true" Value="For Blobtracking combine with:">
+          <Pad Id="F20Vnn0u56sQKMBDaA0q9F" Bounds="540,655,194,19" ShowValueBox="true" isIOBox="true" Value="For Blobtracking combine with:">
             <p:TypeAnnotation LastCategoryFullName="Primitive" LastDependency="VL.CoreLib.vl">
               <Choice Kind="TypeFlag" Name="String" />
             </p:TypeAnnotation>
@@ -160,26 +151,129 @@
               <p:stringtype p:Assembly="VL.Core" p:Type="VL.Core.StringType">Comment</p:stringtype>
             </p:ValueBoxSettings>
           </Pad>
-          <Pad Id="HxHjud2FFjpPx4J9tbSy3V" Comment="Baud Rate" Bounds="186,170,44,15" ShowValueBox="true" isIOBox="true" Value="115200">
+          <Pad Id="HxHjud2FFjpPx4J9tbSy3V" Comment="Baud Rate" Bounds="186,200,44,15" ShowValueBox="true" isIOBox="true" Value="256000">
             <p:TypeAnnotation LastCategoryFullName="Primitive" LastDependency="VL.CoreLib.vl">
               <Choice Kind="TypeFlag" Name="Integer32" />
             </p:TypeAnnotation>
           </Pad>
-          <Pad Id="LbFqLXRMOjHLPP4olgidIF" Comment="Timeout" Bounds="206,203,38,15" ShowValueBox="true" isIOBox="true" Value="10000">
+          <Pad Id="Si91mZWTZA3PgcgrakMn3V" Comment="Error Code" Bounds="216,358,35,15" ShowValueBox="true" isIOBox="true" />
+          <Pad Id="MIVWFI9mR6dNakpNf0RO7N" Comment="Status" Bounds="329,358,35,15" ShowValueBox="true" isIOBox="true" />
+          <Pad Id="MoVcbYVV61gLI6ILDjJfWL" Comment="Is Connected" Bounds="419,358,35,35" ShowValueBox="true" isIOBox="true" />
+          <Node Bounds="132,644,89,88" Id="PP7Jc3epDMbMnYAo8jRkSn">
+            <p:NodeReference LastCategoryFullName="Primitive" LastDependency="Builtin">
+              <Choice Kind="StatefulRegion" Name="Region (Stateful)" Fixed="true" />
+              <CategoryReference Kind="Category" Name="Primitive" />
+              <Choice Kind="ApplicationStatefulRegion" Name="ForEach" />
+            </p:NodeReference>
+            <Pin Id="CzNMCovYcyKLsLltPLF29W" Name="Break" Kind="OutputPin" />
+            <Patch Id="AgSfqjR6j09NTRBGuvai3S" ManuallySortedPins="true">
+              <Patch Id="OPbbgTeJzwoP12OiXrHIkR" Name="Create" ManuallySortedPins="true" />
+              <Patch Id="O01twJFlIfgPFqLCwfiyJL" Name="Update" ManuallySortedPins="true" />
+              <Patch Id="IQ2BGjOcdqEM1yryAsjRsa" Name="Dispose" ManuallySortedPins="true" />
+              <Node Bounds="144,681,65,19" Id="IdU1TX9BYTfM2ov1dPalSg">
+                <p:NodeReference LastCategoryFullName="Graphics.Skia.Layers" LastDependency="VL.Skia.vl">
+                  <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
+                  <Choice Kind="ProcessAppFlag" Name="Line" />
+                </p:NodeReference>
+                <Pin Id="QaPGkxdMNbzPV9YmpmEmU1" Name="Node Context" Kind="InputPin" IsHidden="true" />
+                <Pin Id="J9GJyFPi9EfPZvWXTYP5iY" Name="Point A" Kind="InputPin" />
+                <Pin Id="Bu9USZLyj2lLIcd6DtZ80I" Name="Point B" Kind="InputPin" />
+                <Pin Id="OZZOxyVSkMUM10HyRGXc8D" Name="Paint" Kind="InputPin" />
+                <Pin Id="E904tgNuJjIOGMufQsDnoj" Name="Enabled" Kind="InputPin" />
+                <Pin Id="IuJhiEH9XccPTM2ayoF2ED" Name="Output" Kind="OutputPin" />
+              </Node>
+            </Patch>
+            <ControlPoint Id="UWNfhKLiakPLXLga1vLcKU" Bounds="166,650" Alignment="Top" />
+            <ControlPoint Id="JtMITGWed7ZNZPv4iNKedG" Bounds="146,726" Alignment="Bottom" />
+          </Node>
+          <Node Bounds="144,751,45,19" Id="UuhUu9vI5keLbF5HMxsO2l">
+            <p:NodeReference LastCategoryFullName="Graphics.Skia" LastDependency="VL.Skia.vl">
+              <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
+              <Choice Kind="ProcessAppFlag" Name="Group (Spectral)" />
+            </p:NodeReference>
+            <Pin Id="D0ozQvbEF5uPEpbKjVDhTO" Name="Node Context" Kind="InputPin" IsHidden="true" />
+            <Pin Id="GulxFDg5TSBP5mEcdXRrJ2" Name="Input" Kind="InputPin" />
+            <Pin Id="US5ihIDzI7INXB2tfrdf4F" Name="Debug" Kind="InputPin" />
+            <Pin Id="TqPHDePDpFVOYWlc4VrIZL" Name="Enabled" Kind="InputPin" />
+            <Pin Id="U0niCmmzJS7MPWrjXL7YBL" Name="Output" Kind="OutputPin" />
+          </Node>
+          <Node Bounds="226,646,105,19" Id="NZ5PiAh3bnLNpCX1yrrpcJ">
+            <p:NodeReference LastCategoryFullName="Graphics.Skia.Paint" LastDependency="VL.Skia.vl">
+              <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
+              <Choice Kind="ProcessAppFlag" Name="Stroke" />
+            </p:NodeReference>
+            <Pin Id="MmssLcjon3nMsPKzdhSD3b" Name="Node Context" Kind="InputPin" IsHidden="true" />
+            <Pin Id="DRKRlg05RPmPW9JGTu34C6" Name="Input" Kind="InputPin" />
+            <Pin Id="MXvWeN1wcZZOLpNisFmehn" Name="Color" Kind="InputPin" />
+            <Pin Id="IyuEO4ma1SONzDORKGTJPg" Name="Stroke Width" Kind="InputPin" DefaultValue="0" />
+            <Pin Id="EOP0StujBGhMvMajzaVXNL" Name="Join" Kind="InputPin" />
+            <Pin Id="M8KCFpnKcXIOtcqldeIvVk" Name="Cap" Kind="InputPin" />
+            <Pin Id="VPyGekFO4nUQBJ2fxE9mOX" Name="Miter" Kind="InputPin" />
+            <Pin Id="Fx39rrt1q8RP0NANeEDrwu" Name="Output" Kind="OutputPin" />
+          </Node>
+          <Node Bounds="228,753,85,19" Id="OE4EfHgpVJzMxpLuhSVAUb">
+            <p:NodeReference LastCategoryFullName="Graphics.Skia.Layers" LastDependency="VL.Skia.vl">
+              <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
+              <Choice Kind="ProcessAppFlag" Name="Polygon" />
+            </p:NodeReference>
+            <Pin Id="PqKS9kPRQcYPvUInmrQbXJ" Name="Node Context" Kind="InputPin" IsHidden="true" />
+            <Pin Id="O2WkCdLK8ZQPTPN2cF9tOC" Name="Points" Kind="InputPin" />
+            <Pin Id="NDyEDbd3iudMToO2ajaKC0" Name="Closed" Kind="InputPin" DefaultValue="True" />
+            <Pin Id="EtrVxrBbJzvLLBi04lU8hu" Name="Paint" Kind="InputPin" />
+            <Pin Id="PBqYAA8xdGuQZ3rIof84Si" Name="Winding" Kind="InputPin" />
+            <Pin Id="H688D0WzYo3NN089tSe16u" Name="Enabled" Kind="InputPin" />
+            <Pin Id="NwtlU5RucP8OVYNXvvnZ4B" Name="Output" Kind="OutputPin" />
+          </Node>
+          <Node Bounds="167,801,85,19" Id="JRI2o5FCjrvN0eqsdxmd7Z">
+            <p:NodeReference LastCategoryFullName="Graphics.Skia" LastDependency="VL.Skia.vl">
+              <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
+              <Choice Kind="ProcessAppFlag" Name="Group" />
+            </p:NodeReference>
+            <Pin Id="NCVECUb8pP3Pj3VugyRW5c" Name="Node Context" Kind="InputPin" IsHidden="true" />
+            <Pin Id="TQAm1t0lzXwOPELgqfqZ9X" Name="Input" Kind="InputPin" />
+            <Pin Id="K2uz84CqLDXOpTaJyqUl8o" Name="Input 2" Kind="InputPin" />
+            <Pin Id="PjN69EtTxKYOp4qUeNTtld" Name="Input 3" Kind="InputPin" />
+            <Pin Id="ULi7GPsRg7pNQiylTivymF" Name="Debug" Kind="InputPin" />
+            <Pin Id="MYEZzCsQejXOIFZHVUbhVH" Name="Enabled" Kind="InputPin" />
+            <Pin Id="D5E3laE0OYbN3D0C805xOy" Name="Output" Kind="OutputPin" />
+          </Node>
+          <Node Bounds="267,722,105,19" Id="LveqAkcDlKdQPSRYm49af8">
+            <p:NodeReference LastCategoryFullName="Graphics.Skia.Paint" LastDependency="VL.Skia.vl">
+              <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
+              <Choice Kind="ProcessAppFlag" Name="Stroke" />
+            </p:NodeReference>
+            <Pin Id="I9bOMCzG84MMwhW1ePiXxb" Name="Node Context" Kind="InputPin" IsHidden="true" />
+            <Pin Id="AYrV501wdsdO2lsCzcRzNe" Name="Input" Kind="InputPin" />
+            <Pin Id="HA8tUikaEa2NCGwsXP98Z8" Name="Color" Kind="InputPin" DefaultValue="0, 0.5019608, 0, 1" />
+            <Pin Id="TuWUJ353ty9PKuw5YPIU4E" Name="Stroke Width" Kind="InputPin" />
+            <Pin Id="GEYdLtiVwByMoMmwKAPSed" Name="Join" Kind="InputPin" />
+            <Pin Id="OeSZknSEUeSQImW060XJ7s" Name="Cap" Kind="InputPin" />
+            <Pin Id="NgNfH81Yhe3Pe8mELJ9ypg" Name="Miter" Kind="InputPin" />
+            <Pin Id="V5bPJcK8SQkOm1G5kvM90h" Name="Output" Kind="OutputPin" />
+          </Node>
+          <Pad Id="KM6zmOQRTJSOpLurpx11E1" Bounds="95,70,246,39" ShowValueBox="true" isIOBox="true" Value="For driver installation requirements, see Getting Started section here: ">
             <p:TypeAnnotation LastCategoryFullName="Primitive" LastDependency="VL.CoreLib.vl">
-              <Choice Kind="TypeFlag" Name="Integer32" />
+              <Choice Kind="TypeFlag" Name="String" />
             </p:TypeAnnotation>
+            <p:ValueBoxSettings>
+              <p:fontsize p:Type="Int32">9</p:fontsize>
+              <p:stringtype p:Assembly="VL.Core" p:Type="VL.Core.StringType">Comment</p:stringtype>
+            </p:ValueBoxSettings>
           </Pad>
-          <Pad Id="K5ZncvVtvhILMTj1WndT1V" Comment="Get Health" Bounds="484,277,35,35" ShowValueBox="true" isIOBox="true" Value="false">
+          <Pad Id="MDNa2HjoeuXPWLS0hTcJaR" Bounds="109,110,326,19" ShowValueBox="true" isIOBox="true" Value="https://www.nuget.org/packages/VL.Devices.RPLidar/#readme-body-tab">
             <p:TypeAnnotation LastCategoryFullName="Primitive" LastDependency="VL.CoreLib.vl">
-              <Choice Kind="ImmutableTypeFlag" Name="Boolean" />
+              <Choice Kind="TypeFlag" Name="String" />
             </p:TypeAnnotation>
             <p:ValueBoxSettings>
-              <p:buttonmode p:Assembly="VL.UI.Forms" p:Type="VL.HDE.PatchEditor.Editors.ButtonModeEnum">Bang</p:buttonmode>
+              <p:fontsize p:Type="Int32">9</p:fontsize>
+              <p:stringtype p:Assembly="VL.Core" p:Type="VL.Core.StringType">Link</p:stringtype>
             </p:ValueBoxSettings>
           </Pad>
-          <Pad Id="Si91mZWTZA3PgcgrakMn3V" Comment="Error Code" Bounds="248,353,35,15" ShowValueBox="true" isIOBox="true" />
-          <Pad Id="MIVWFI9mR6dNakpNf0RO7N" Comment="Status" Bounds="378,354,35,15" ShowValueBox="true" isIOBox="true" />
+          <Pad Id="Tq5h8sRX99wPj7vOP2uRwy" Comment="Initial Zoom" Bounds="313,811,35,15" ShowValueBox="true" isIOBox="true" Value="0.3">
+            <p:TypeAnnotation LastCategoryFullName="Primitive" LastDependency="VL.CoreLib.vl">
+              <Choice Kind="TypeFlag" Name="Float32" />
+            </p:TypeAnnotation>
+          </Pad>
         </Canvas>
         <Patch Id="VQ03JHOiNJ2MKwdCwZ2kEg" Name="Create" />
         <Patch Id="VUhWUKG80d4QcoVSLYgxc4" Name="Update" />
@@ -189,25 +283,31 @@
         </ProcessDefinition>
         <Link Id="EwroDPu9TVVPo7uqVx31sw" Ids="KcFjXUYy8sCLAxrtWa9fmw,JnIolCbESWXPv2lcPbVLBO" />
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-  <NugetDependency Id="PYNQDKGqWq3Lo5hYuSMJqC" Location="RPLidar4Net.Api" Version="0.2.0" />
-  <NugetDependency Id="N3VWXd4nLsOO0XRcadqFlS" Location="RPLidar4Net.Core" Version="0.3.0" />
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   <NugetDependency Id="Vww2yCurqPxLxo6VVSHnYJ" Location="VL.Devices.RPLidar" Version="0.0.0" />
-  <NugetDependency Id="BqT2EqCcb1IQSqUYFc1NNw" Location="VL.Skia" Version="2024.6.7-0181-gdf16f593e1" />
+  <NugetDependency Id="BqT2EqCcb1IQSqUYFc1NNw" Location="VL.Skia" Version="2024.6.6" />
 </Document>
\ No newline at end of file
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