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use std::f64::consts::PI;
use anyhow::Result;
use autd3_driver::{Drive, FPGA_CLK_FREQ, MAX_CYCLE};
use crate::error::AUTDInternalError;
use super::{Transducer, Vector3};
pub struct NormalPhaseTransducer {
id: usize,
pos: Vector3,
x_direction: Vector3,
y_direction: Vector3,
z_direction: Vector3,
cycle: u16,
mod_delay: u16,
}
impl Transducer for NormalPhaseTransducer {
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,
mod_delay: 0,
}
}
fn align_phase_at(&self, dist: f64, sound_speed: f64) -> f64 {
dist * self.wavenumber(sound_speed)
}
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 mod_delay(&self) -> u16 {
self.mod_delay
}
fn set_mod_delay(&mut self, delay: u16) {
self.mod_delay = delay;
}
fn frequency(&self) -> f64 {
FPGA_CLK_FREQ as f64 / self.cycle as f64
}
fn pack_head(tx: &mut autd3_driver::TxDatagram) {
autd3_driver::normal_head(tx);
}
fn pack_body(
phase_sent: &mut bool,
duty_sent: &mut bool,
drives: &[Drive],
tx: &mut autd3_driver::TxDatagram,
) -> anyhow::Result<()> {
autd3_driver::normal_phase_body(drives, tx)?;
*phase_sent = true;
*duty_sent = true;
Ok(())
}
fn wavelength(&self, sound_speed: f64) -> f64 {
sound_speed / self.frequency()
}
fn wavenumber(&self, sound_speed: f64) -> f64 {
2.0 * PI * self.frequency() / sound_speed
}
fn gain_stm_max() -> usize {
autd3_driver::GAIN_STM_NORMAL_BUF_SIZE_MAX
}
}
impl NormalPhaseTransducer {
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)
}
}