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use std::sync::atomic::{self, AtomicU8};
use crate::{
ec_config::{EC_OUTPUT_FRAME_SIZE, HEADER_SIZE},
gain::Gain,
geometry::Geometry,
hardware_defined::{
CommandType, RxGlobalControlFlags, RxGlobalHeader, SeqFocus, MOD_FRAME_SIZE,
NUM_TRANS_IN_UNIT,
},
modulation::Modulation,
sequence::{GainSequence, PointSequence, Sequence},
};
static MSG_ID: AtomicU8 = AtomicU8::new(0);
pub struct Logic {}
impl Logic {
fn get_id() -> u8 {
MSG_ID.fetch_add(1, atomic::Ordering::SeqCst);
let _ =
MSG_ID.compare_exchange(0xFF, 1, atomic::Ordering::SeqCst, atomic::Ordering::SeqCst);
MSG_ID.load(atomic::Ordering::SeqCst)
}
pub fn is_msg_processed(num_devices: usize, msg_id: u8, rx: &[u8]) -> bool {
let mut processed = 0;
for dev in 0..num_devices {
let proc_id = rx[dev * 2 + 1];
if msg_id == proc_id {
processed += 1;
}
}
processed == num_devices
}
pub fn pack_header(
cmd: CommandType,
flag: RxGlobalControlFlags,
data: &mut [u8],
msg_id: &mut u8,
) {
let header = data.as_mut_ptr() as *mut RxGlobalHeader;
*msg_id = Self::get_id();
unsafe {
(*header).msg_id = *msg_id;
(*header).ctrl_flag = flag;
(*header).mod_size = 0;
(*header).command = cmd;
}
}
pub fn pack_header_mod<M: Modulation>(
modulation: &mut M,
flag: RxGlobalControlFlags,
data: &mut [u8],
msg_id: &mut u8,
) {
Self::pack_header(CommandType::Op, flag, data, msg_id);
unsafe {
let header = data.as_mut_ptr() as *mut RxGlobalHeader;
let mut offset = 0;
if modulation.sent() == 0 {
(*header).ctrl_flag |= RxGlobalControlFlags::MOD_BEGIN;
(*header).mod_data[0] = (modulation.sampling_frequency_division() & 0xFF) as u8;
(*header).mod_data[1] =
(modulation.sampling_frequency_division() >> 8 & 0xFF) as u8;
offset += 2;
}
let mod_size = modulation.remaining().clamp(0, MOD_FRAME_SIZE - offset);
(*header).mod_size = mod_size as u8;
if modulation.sent() + mod_size >= modulation.buffer().len() {
(*header).ctrl_flag |= RxGlobalControlFlags::MOD_END;
}
std::ptr::copy_nonoverlapping(
modulation.head(),
(*header).mod_data.as_mut_ptr().add(offset),
mod_size,
);
modulation.send(mod_size);
}
}
pub fn pack_body<G: Gain>(gain: &G, data: &mut [u8], size: &mut usize) {
let num_devices = gain.data().len();
*size = std::mem::size_of::<RxGlobalHeader>()
+ std::mem::size_of::<u16>() * NUM_TRANS_IN_UNIT * num_devices;
unsafe {
let mut cursor = data.as_mut_ptr().add(std::mem::size_of::<RxGlobalHeader>());
let byte_size = NUM_TRANS_IN_UNIT * std::mem::size_of::<u16>();
for i in 0..num_devices {
std::ptr::copy_nonoverlapping(
gain.data()[i].as_ptr() as *const u8,
cursor,
byte_size,
);
cursor = cursor.add(byte_size);
}
}
}
pub fn pack_seq(
seq: &mut PointSequence,
geometry: &Geometry,
data: &mut [u8],
size: &mut usize,
) {
let num_devices = geometry.num_devices();
*size = std::mem::size_of::<RxGlobalHeader>()
+ std::mem::size_of::<u16>() * NUM_TRANS_IN_UNIT * num_devices;
let header = data.as_mut_ptr() as *mut RxGlobalHeader;
let mut offset = 1;
unsafe {
let mut cursor =
data.as_mut_ptr().add(std::mem::size_of::<RxGlobalHeader>()) as *mut u16;
if seq.sent() == 0 {
(*header).ctrl_flag |= RxGlobalControlFlags::SEQ_BEGIN;
for i in 0..num_devices {
cursor
.add(i * NUM_TRANS_IN_UNIT + 1)
.write(seq.sampling_freq_div());
cursor
.add(i * NUM_TRANS_IN_UNIT + 2)
.write((geometry.wavelength * 1000.0) as u16);
}
offset += 4;
}
let send_size = seq.remaining().clamp(
0,
(EC_OUTPUT_FRAME_SIZE - HEADER_SIZE - offset * std::mem::size_of::<u16>())
/ std::mem::size_of::<SeqFocus>(),
);
if seq.sent() + send_size >= seq.size() {
(*header).ctrl_flag |= RxGlobalControlFlags::SEQ_END;
}
let fixed_num_unit = 256.0 / geometry.wavelength;
for device in 0..num_devices {
std::ptr::write(cursor, send_size as u16);
let mut focus_cursor = cursor.add(offset) as *mut SeqFocus;
for i in 0..send_size {
let v64 = geometry.local_position(device, seq.control_points()[seq.sent() + i]);
let x = v64[0] * fixed_num_unit;
let y = v64[1] * fixed_num_unit;
let z = v64[2] * fixed_num_unit;
(*focus_cursor).set(x as i32, y as i32, z as i32, 0xFF);
focus_cursor = focus_cursor.add(1);
}
cursor = cursor.add(NUM_TRANS_IN_UNIT);
}
seq.send(send_size);
}
}
pub fn pack_gain_seq(
seq: &mut GainSequence,
geometry: &Geometry,
data: &mut [u8],
size: &mut usize,
) {
let num_devices = geometry.num_devices();
*size = std::mem::size_of::<RxGlobalHeader>()
+ std::mem::size_of::<u16>() * NUM_TRANS_IN_UNIT * num_devices;
let header = data.as_mut_ptr() as *mut RxGlobalHeader;
unsafe {
if seq.sent() == 0 {
let cursor =
data.as_mut_ptr().add(std::mem::size_of::<RxGlobalHeader>()) as *mut u16;
(*header).ctrl_flag |= RxGlobalControlFlags::SEQ_BEGIN;
for i in 0..num_devices {
cursor
.add(i * NUM_TRANS_IN_UNIT + 1)
.write(seq.sampling_freq_div());
}
seq.send(1);
return;
}
if seq.sent() >= seq.size() {
(*header).ctrl_flag |= RxGlobalControlFlags::SEQ_END;
}
let mut cursor =
data.as_mut_ptr().add(std::mem::size_of::<RxGlobalHeader>()) as *mut u16;
for device in 0..num_devices {
std::ptr::copy_nonoverlapping(
seq.gains()[seq.sent() - 1][device].as_ptr(),
cursor,
NUM_TRANS_IN_UNIT,
);
cursor = cursor.add(NUM_TRANS_IN_UNIT);
}
seq.send(1);
}
}
pub fn pack_delay_offset(
delay_offsets: &[[u16; NUM_TRANS_IN_UNIT]],
num_devices: usize,
data: &mut [u8],
size: &mut usize,
) {
*size = std::mem::size_of::<RxGlobalHeader>()
+ std::mem::size_of::<u16>() * NUM_TRANS_IN_UNIT * num_devices;
unsafe {
let mut cursor =
data.as_mut_ptr().add(std::mem::size_of::<RxGlobalHeader>()) as *mut u16;
for delay in delay_offsets {
std::ptr::copy_nonoverlapping(delay.as_ptr(), cursor, NUM_TRANS_IN_UNIT);
cursor = cursor.add(NUM_TRANS_IN_UNIT);
}
}
}
}