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use anyhow::Result;
use itertools::Itertools;
use autd3_driver::NUM_TRANS_IN_UNIT;
use crate::{
geometry::{Geometry, Transducer},
interface::{DatagramBody, Empty, Filled, Sendable},
};
pub struct ModDelay {
sent: bool,
}
impl<T: Transducer> DatagramBody<T> for ModDelay {
fn init(&mut self) -> Result<()> {
self.sent = false;
Ok(())
}
fn pack(&mut self, geometry: &Geometry<T>, tx: &mut autd3_driver::TxDatagram) -> Result<()> {
autd3_driver::null_body(tx);
if DatagramBody::<T>::is_finished(self) {
return Ok(());
}
let delays: Vec<[u16; NUM_TRANS_IN_UNIT]> = geometry
.transducers()
.map(|tr| tr.mod_delay())
.chunks(NUM_TRANS_IN_UNIT)
.into_iter()
.map(|c| c.collect::<Vec<_>>())
.map(|v| v.try_into().unwrap())
.collect();
self.sent = true;
autd3_driver::mod_delay(&delays, tx)?;
Ok(())
}
fn is_finished(&self) -> bool {
self.sent
}
}
impl<T: Transducer> Sendable<T> for ModDelay {
type H = Empty;
type B = Filled;
fn init(&mut self) -> Result<()> {
DatagramBody::<T>::init(self)
}
fn pack(
&mut self,
_msg_id: u8,
geometry: &Geometry<T>,
tx: &mut autd3_driver::TxDatagram,
) -> Result<()> {
DatagramBody::<T>::pack(self, geometry, tx)
}
fn is_finished(&self) -> bool {
DatagramBody::<T>::is_finished(self)
}
}
