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use anyhow::Result;
use autd3_driver::Drive;
use crate::{
geometry::{Geometry, Transducer},
interface::{DatagramBody, Empty, Filled, Sendable},
};
pub struct Amplitudes {
amp: f64,
sent: bool,
}
impl Amplitudes {
pub fn uniform(amp: f64) -> Self {
Self { amp, sent: false }
}
pub fn none() -> Self {
Self::uniform(0.0)
}
}
impl<T> DatagramBody<T> for Amplitudes
where
T: Transducer,
{
fn init(&mut self) -> Result<()> {
self.sent = false;
Ok(())
}
fn pack(&mut self, geometry: &Geometry<T>, tx: &mut autd3_driver::TxDatagram) -> Result<()> {
autd3_driver::normal_head(tx);
if DatagramBody::<T>::is_finished(self) {
return Ok(());
}
let drives: Vec<_> = geometry
.transducers()
.map(|tr| Drive {
phase: 0.0,
amp: self.amp,
cycle: tr.cycle(),
})
.collect();
autd3_driver::normal_duty_body(&drives, tx)?;
self.sent = true;
Ok(())
}
fn is_finished(&self) -> bool {
self.sent
}
}
impl<T> Sendable<T> for Amplitudes
where
T: Transducer,
{
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)
}
}