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use crate::{
geometry::{Geometry, Transducer, Vector3},
interface::{DatagramBody, Empty, Filled, Sendable},
};
use anyhow::{Ok, Result};
use autd3_driver::{
SeqFocus, TxDatagram, FPGA_CLK_FREQ, POINT_STM_BODY_DATA_SIZE, POINT_STM_HEAD_DATA_SIZE,
STM_SAMPLING_FREQ_DIV_MIN,
};
use super::STM;
pub struct PointSTM {
control_points: Vec<(Vector3, u8)>,
sample_freq_div: u32,
sent: usize,
}
impl PointSTM {
pub fn new() -> Self {
Self::with_control_points(vec![])
}
pub fn with_control_points(control_points: Vec<(Vector3, u8)>) -> Self {
Self {
control_points,
sample_freq_div: 4096,
sent: 0,
}
}
pub fn add(&mut self, point: Vector3, duty_shift: u8) -> Result<()> {
if self.control_points.len() + 1 > autd3_driver::POINT_STM_BUF_SIZE_MAX {
return Err(autd3_driver::FPGAError::PointSTMOutOfBuffer(
self.control_points.len() + 1,
)
.into());
}
self.control_points.push((point, duty_shift));
Ok(())
}
pub fn size(&self) -> usize {
self.control_points.len()
}
pub fn control_points(&self) -> &[(Vector3, u8)] {
&self.control_points
}
}
impl Default for PointSTM {
fn default() -> Self {
Self::new()
}
}
impl<T: Transducer> DatagramBody<T> for PointSTM {
fn init(&mut self) -> Result<()> {
self.sent = 0;
Ok(())
}
fn pack(&mut self, geometry: &Geometry<T>, tx: &mut TxDatagram) -> Result<()> {
autd3_driver::point_stm_head(tx);
if DatagramBody::<T>::is_finished(self) {
return Ok(());
}
let is_first_frame = self.sent == 0;
let max_size = if is_first_frame {
POINT_STM_HEAD_DATA_SIZE
} else {
POINT_STM_BODY_DATA_SIZE
};
let send_size = (self.control_points.len() - self.sent).min(max_size);
let is_last_frame = self.sent + send_size == self.control_points.len();
let points: Vec<Vec<_>> = geometry
.devices()
.iter()
.map(|dev| {
self.control_points()[self.sent..(self.sent + send_size)]
.iter()
.map(|(p, d)| {
let lp = dev.local_position(p);
SeqFocus::new(lp.x, lp.y, lp.z, *d)
})
.collect()
})
.collect();
autd3_driver::point_stm_body(
&points,
is_first_frame,
self.sample_freq_div,
geometry.sound_speed(),
is_last_frame,
tx,
)?;
self.sent += send_size;
Ok(())
}
fn is_finished(&self) -> bool {
self.sent == self.control_points.len()
}
}
impl<T: Transducer> Sendable<T> for PointSTM {
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 TxDatagram) -> Result<()> {
DatagramBody::<T>::pack(self, geometry, tx)
}
fn is_finished(&self) -> bool {
DatagramBody::<T>::is_finished(self)
}
}
impl STM for PointSTM {
fn set_freq(&mut self, freq: f64) -> f64 {
let sample_freq = self.size() as f64 * freq;
let div = ((FPGA_CLK_FREQ as f64 / sample_freq) as u32)
.clamp(STM_SAMPLING_FREQ_DIV_MIN, u32::MAX);
self.sample_freq_div = div;
STM::freq(self)
}
fn freq(&self) -> f64 {
STM::sampling_freq(self) / self.size() as f64
}
fn sampling_freq(&self) -> f64 {
FPGA_CLK_FREQ as f64 / self.sample_freq_div as f64
}
fn set_sampling_freq_div(&mut self, freq_div: u32) {
self.sample_freq_div = freq_div;
}
fn sampling_freq_div(&mut self) -> u32 {
self.sample_freq_div
}
}
