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use std::f64::consts::PI;
use anyhow::{Ok, Result};
use autd3_driver::{Duty, Phase, FPGA_CLK_FREQ, MAX_CYCLE, NUM_TRANS_IN_UNIT};
use crate::error::AUTDInternalError;
use super::{DriveData, Transducer, Vector3};
pub struct NormalDriveData {
pub phases: Vec<Phase>,
pub duties: Vec<Duty>,
}
impl<T: Transducer> DriveData<T> for NormalDriveData {
fn new() -> Self {
Self {
phases: vec![],
duties: vec![],
}
}
fn init(&mut self, size: usize) {
self.phases.resize(size, Phase { phase: 0x0000 });
self.duties.resize(size, Duty { duty: 0x0000 });
}
fn set_drive(&mut self, tr: &T, phase: f64, amp: f64) {
self.duties[tr.id()].duty = (tr.cycle() as f64 * amp.asin() / PI) as _;
self.phases[tr.id()].phase =
((phase * tr.cycle() as f64).round() as i32).rem_euclid(tr.cycle() as i32) as _;
}
fn copy_from(&mut self, dev_id: usize, src: &Self) {
self.duties[(dev_id * NUM_TRANS_IN_UNIT)..((dev_id + 1) * NUM_TRANS_IN_UNIT)]
.copy_from_slice(
&src.duties[(dev_id * NUM_TRANS_IN_UNIT)..((dev_id + 1) * NUM_TRANS_IN_UNIT)],
);
self.phases[(dev_id * NUM_TRANS_IN_UNIT)..((dev_id + 1) * NUM_TRANS_IN_UNIT)]
.copy_from_slice(
&src.phases[(dev_id * NUM_TRANS_IN_UNIT)..((dev_id + 1) * NUM_TRANS_IN_UNIT)],
);
}
}
pub struct NormalTransducer {
id: usize,
pos: Vector3,
x_direction: Vector3,
y_direction: Vector3,
z_direction: Vector3,
cycle: u16,
}
impl Transducer for NormalTransducer {
type D = NormalDriveData;
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,
cycle: 4096,
}
}
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 {
self.cycle
}
fn frequency(&self) -> f64 {
FPGA_CLK_FREQ as f64 / self.cycle as f64
}
fn pack(
msg_id: u8,
phase_sent: &mut bool,
duty_sent: &mut bool,
drives: &Self::D,
tx: &mut autd3_driver::TxDatagram,
) -> anyhow::Result<()> {
if !*phase_sent {
autd3_driver::normal_phase(msg_id, &drives.phases, tx)?;
*phase_sent = true;
} else {
autd3_driver::normal_duty(msg_id, &drives.duties, tx)?;
*duty_sent = true;
}
Ok(())
}
fn wavelength(&self, sound_speed: f64) -> f64 {
sound_speed * 1e3 / self.frequency()
}
fn wavenumber(&self, sound_speed: f64) -> f64 {
2.0 * PI * self.frequency() / (sound_speed * 1e3)
}
}
impl NormalTransducer {
pub fn set_cycle(&mut self, cycle: u16) -> Result<()> {
if cycle > MAX_CYCLE {
return Err(AUTDInternalError::CycleOutOfRange(cycle).into());
}
self.cycle = cycle;
Ok(())
}
pub fn set_frequency(&mut self, freq: f64) -> Result<()> {
let cycle = (FPGA_CLK_FREQ as f64 / freq).round() as u16;
self.set_cycle(cycle)
}
}
