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pub mod consts;
pub mod primitives;
use crate::consts::*;
use autd_geometry::Vector3;
pub struct PointSequence {
control_points: Vec<Vector3>,
sample_freq_div: u16,
sent: usize,
}
impl PointSequence {
pub fn new() -> Self {
Self {
control_points: vec![],
sample_freq_div: 1,
sent: 0,
}
}
pub fn with_control_points(control_points: Vec<Vector3>) -> Self {
Self {
control_points,
sample_freq_div: 1,
sent: 0,
}
}
pub fn append_point(&mut self, point: Vector3) {
if self.control_points.len() + 1 > POINT_SEQ_BUFFER_SIZE_MAX {
panic!(
"Point sequence buffer overflow. Maximum available buffer size is {}.",
POINT_SEQ_BUFFER_SIZE_MAX
);
}
self.control_points.push(point);
}
pub fn append_points(&mut self, points: &[Vector3]) {
if self.control_points.len() + points.len() > POINT_SEQ_BUFFER_SIZE_MAX {
panic!(
"Point sequence buffer overflow. Maximum available buffer size is {}.",
POINT_SEQ_BUFFER_SIZE_MAX
);
}
self.control_points.extend_from_slice(points);
}
pub fn set_freq(&mut self, freq: f64) -> f64 {
let sample_freq = self.control_points.len() as f64 * freq;
let div = (POINT_SEQ_BASE_FREQ / sample_freq) as usize;
let lm_cycle = self.control_points.len() * div;
let actual_div = if lm_cycle > POINT_SEQ_CLK_IDX_MAX {
(POINT_SEQ_CLK_IDX_MAX / self.control_points.len()) as u16
} else {
div as u16
};
self.sample_freq_div = actual_div;
self.freq()
}
pub fn freq(&self) -> f64 {
self.sampling_freq() / self.control_points.len() as f64
}
pub fn sampling_freq(&self) -> f64 {
POINT_SEQ_BASE_FREQ / self.sample_freq_div as f64
}
pub fn sampling_freq_div(&self) -> u16 {
self.sample_freq_div
}
pub fn sent(&self) -> usize {
self.sent
}
pub fn send(&mut self, send: usize) {
self.sent += send;
}
pub fn control_points(&self) -> &[Vector3] {
&self.control_points
}
}
impl Default for PointSequence {
fn default() -> Self {
Self::new()
}
}