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use autd3_driver::TxDatagram;
use crate::geometry::{Geometry, Transducer};
use anyhow::Result;
pub struct Empty;
pub struct Filled;
pub trait Sendable<T: Transducer> {
type H;
type B;
fn init(&mut self) -> Result<()>;
fn pack(&mut self, msg_id: u8, geometry: &Geometry<T>, tx: &mut TxDatagram) -> Result<()>;
fn is_finished(&self) -> bool;
}
pub trait DatagramHeader {
fn init(&mut self) -> Result<()>;
fn pack(&mut self, msg_id: u8, tx: &mut TxDatagram) -> Result<()>;
fn is_finished(&self) -> bool;
}
pub trait DatagramBody<T: Transducer> {
fn init(&mut self) -> Result<()>;
fn pack(&mut self, geometry: &Geometry<T>, tx: &mut TxDatagram) -> Result<()>;
fn is_finished(&self) -> bool;
}
#[derive(Default)]
pub struct NullHeader {}
impl NullHeader {
pub fn new() -> Self {
Self {}
}
}
impl DatagramHeader for NullHeader {
fn init(&mut self) -> Result<()> {
Ok(())
}
fn pack(&mut self, msg_id: u8, tx: &mut TxDatagram) -> Result<()> {
autd3_driver::null_header(msg_id, tx);
Ok(())
}
fn is_finished(&self) -> bool {
true
}
}
#[derive(Default)]
pub struct NullBody {}
impl NullBody {
pub fn new() -> Self {
Self {}
}
}
impl<T: Transducer> DatagramBody<T> for NullBody {
fn init(&mut self) -> Result<()> {
Ok(())
}
fn pack(&mut self, _geometry: &Geometry<T>, tx: &mut TxDatagram) -> Result<()> {
autd3_driver::null_body(tx);
Ok(())
}
fn is_finished(&self) -> bool {
true
}
}
