1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
use crate::{
error::AutdError,
gain::Gain,
geometry::{Geometry, Vector3},
hardware_defined::{
DataArray, GAIN_SEQ_BUFFER_SIZE_MAX, POINT_SEQ_BUFFER_SIZE_MAX, SEQ_BASE_FREQ,
},
};
use anyhow::Result;
use autd3_traits::Sequence;
pub trait Sequence {
fn set_freq(&mut self, freq: f64) -> f64;
fn freq(&self) -> f64;
fn sampling_freq(&self) -> f64;
fn sampling_freq_div(&self) -> u16;
fn sent(&self) -> usize;
fn send(&mut self, sent: usize);
fn finished(&self) -> bool;
}
#[derive(Sequence)]
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 add_point(&mut self, point: Vector3) -> Result<()> {
if self.control_points.len() + 1 > POINT_SEQ_BUFFER_SIZE_MAX {
return Err(AutdError::PointSequenceOutOfBuffer(POINT_SEQ_BUFFER_SIZE_MAX).into());
}
self.control_points.push(point);
Ok(())
}
pub fn add_points(&mut self, points: &[Vector3]) -> Result<()> {
if self.control_points.len() + points.len() > POINT_SEQ_BUFFER_SIZE_MAX {
return Err(AutdError::PointSequenceOutOfBuffer(POINT_SEQ_BUFFER_SIZE_MAX).into());
}
self.control_points.extend_from_slice(points);
Ok(())
}
pub fn size(&self) -> usize {
self.control_points.len()
}
pub fn control_points(&self) -> &[Vector3] {
&self.control_points
}
pub fn remaining(&self) -> usize {
self.size() - self.sent
}
}
impl Default for PointSequence {
fn default() -> Self {
Self::new()
}
}
#[derive(Sequence)]
pub struct GainSequence {
gains: Vec<Vec<DataArray>>,
sample_freq_div: u16,
sent: usize,
}
impl GainSequence {
pub fn new() -> Self {
Self {
gains: vec![],
sample_freq_div: 1,
sent: 0,
}
}
pub fn add_gain<G: Gain>(&mut self, mut gain: G, geometry: &Geometry) -> Result<()> {
if self.gains.len() + 1 > GAIN_SEQ_BUFFER_SIZE_MAX {
return Err(AutdError::PointSequenceOutOfBuffer(POINT_SEQ_BUFFER_SIZE_MAX).into());
}
gain.build(geometry)?;
self.gains.push(gain.take());
Ok(())
}
pub fn size(&self) -> usize {
self.gains.len()
}
pub fn gains(&self) -> &[Vec<DataArray>] {
&self.gains
}
pub fn remaining(&self) -> usize {
self.size() + 1 - self.sent
}
}
impl Default for GainSequence {
fn default() -> Self {
Self::new()
}
}