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

/*
 * File: synchronize.rs
 * Project: src
 * Created Date: 05/12/2022
 * Author: Shun Suzuki
 * -----
 * Last Modified: 22/05/2023
 * Modified By: Shun Suzuki (suzuki@hapis.k.u-tokyo.ac.jp)
 * -----
 * Copyright (c) 2022-2023 Shun Suzuki. All rights reserved.
 *
 */

use std::time::Duration;

use autd3_driver::NullHeader;

use crate::{datagram::*, error::AUTDInternalError, geometry::*};

#[derive(Default)]
pub struct Synchronize {}

impl Synchronize {
    pub fn new() -> Self {
        Self {}
    }
}

impl<T: Transducer> Datagram<T> for Synchronize {
    type H = NullHeader;
    type B = T::Sync;

    fn operation(
        &mut self,
        geometry: &Geometry<T>,
    ) -> Result<(Self::H, Self::B), AUTDInternalError> {
        Ok((
            Default::default(),
            <Self::B as autd3_driver::SyncOp>::new(|| {
                geometry.transducers().map(|tr| tr.cycle()).collect()
            }),
        ))
    }

    fn timeout(&self) -> Option<Duration> {
        Some(Duration::from_millis(200))
    }
}