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use std::f64::consts::PI;
use autd3_driver::{LegacyDrive, NUM_TRANS_IN_UNIT};
use super::{DriveData, Transducer, Vector3};
pub struct LegacyDriveData {
pub data: Vec<LegacyDrive>,
}
impl<T: Transducer> DriveData<T> for LegacyDriveData {
fn new() -> Self {
Self { data: vec![] }
}
fn init(&mut self, size: usize) {
self.data.resize(
size,
LegacyDrive {
phase: 0x00,
duty: 0x00,
},
)
}
fn set_drive(&mut self, tr: &T, phase: f64, amp: f64) {
self.data[tr.id()].duty = (510.0 * amp.asin() / PI) as u8;
self.data[tr.id()].phase = (((phase * 256.0).round() as i32) & 0xFF) as u8;
}
fn copy_from(&mut self, dev_id: usize, src: &Self) {
self.data[(dev_id * NUM_TRANS_IN_UNIT)..((dev_id + 1) * NUM_TRANS_IN_UNIT)]
.copy_from_slice(
&src.data[(dev_id * NUM_TRANS_IN_UNIT)..((dev_id + 1) * NUM_TRANS_IN_UNIT)],
);
}
}
pub struct LegacyTransducer {
id: usize,
pos: Vector3,
x_direction: Vector3,
y_direction: Vector3,
z_direction: Vector3,
}
impl Transducer for LegacyTransducer {
type D = LegacyDriveData;
fn new(
id: usize,
pos: Vector3,
x_direction: Vector3,
y_direction: Vector3,
z_direction: Vector3,
) -> Self {
Self {
id,
pos,
x_direction,
y_direction,
z_direction,
}
}
fn align_phase_at(&self, dist: f64, sound_speed: f64) -> f64 {
let wavelength = sound_speed * 1e3 / self.frequency();
dist / wavelength
}
fn position(&self) -> &Vector3 {
&self.pos
}
fn id(&self) -> usize {
self.id
}
fn x_direction(&self) -> &Vector3 {
&self.x_direction
}
fn y_direction(&self) -> &Vector3 {
&self.y_direction
}
fn z_direction(&self) -> &Vector3 {
&self.z_direction
}
fn cycle(&self) -> u16 {
4096
}
fn frequency(&self) -> f64 {
40e3
}
fn wavelength(&self, sound_speed: f64) -> f64 {
sound_speed * 1e3 / 40e3
}
fn wavenumber(&self, sound_speed: f64) -> f64 {
2.0 * PI * 40e3 / (sound_speed * 1e3)
}
fn pack(
msg_id: u8,
phase_sent: &mut bool,
duty_sent: &mut bool,
drives: &Self::D,
tx: &mut autd3_driver::TxDatagram,
) -> anyhow::Result<()> {
autd3_driver::normal_legacy(msg_id, &drives.data, tx)?;
*phase_sent = true;
*duty_sent = true;
Ok(())
}
}
