autd3_core/
lib.rs

1#![no_std]
2#![cfg_attr(docsrs, feature(doc_cfg))]
3#![warn(missing_docs)]
4#![warn(rustdoc::missing_crate_level_docs)]
5#![warn(rustdoc::unescaped_backticks)]
6
7//! Core traits and types for AUTD3.
8
9extern crate alloc;
10#[cfg(feature = "std")]
11extern crate std;
12
13#[cfg_attr(docsrs, doc(cfg(feature = "acoustics")))]
14#[cfg(feature = "acoustics")]
15/// Utilities for acoustics.
16pub mod acoustics;
17#[cfg_attr(docsrs, doc(cfg(feature = "common")))]
18#[cfg(feature = "common")]
19/// Common constants and types.
20pub mod common;
21#[cfg_attr(docsrs, doc(cfg(feature = "datagram")))]
22#[cfg(feature = "datagram")]
23/// Core traits for Datagram.
24pub mod datagram;
25#[cfg_attr(docsrs, doc(cfg(feature = "environment")))]
26#[cfg(feature = "environment")]
27#[doc(hidden)]
28pub mod environment;
29#[cfg_attr(docsrs, doc(cfg(feature = "ethercat")))]
30#[cfg(feature = "ethercat")]
31/// Definitions for EtherCAT.
32pub mod ethercat;
33#[cfg_attr(docsrs, doc(cfg(feature = "firmware")))]
34#[cfg(feature = "firmware")]
35/// Firmware related modules.
36pub mod firmware;
37#[cfg_attr(docsrs, doc(cfg(feature = "gain")))]
38#[cfg(feature = "gain")]
39/// Core traits for Gain.
40pub mod gain;
41#[cfg_attr(docsrs, doc(cfg(feature = "geometry")))]
42#[cfg(feature = "geometry")]
43/// Geometry related modules.
44pub mod geometry;
45#[cfg_attr(docsrs, doc(cfg(feature = "link")))]
46#[cfg(feature = "link")]
47/// A interface to the device.
48pub mod link;
49#[cfg_attr(docsrs, doc(cfg(feature = "modulation")))]
50#[cfg(feature = "modulation")]
51/// Core traits for Modulation.
52pub mod modulation;
53#[cfg_attr(docsrs, doc(cfg(feature = "sleep")))]
54#[cfg(feature = "sleep")]
55#[doc(hidden)]
56pub mod sleep;
57#[cfg_attr(docsrs, doc(cfg(feature = "utils")))]
58#[cfg(feature = "utils")]
59#[doc(hidden)]
60pub mod utils;
61
62/// Utilities for user-common [`Gain`] and [`Modulation`].
63///
64/// # Example
65///
66/// The following example shows how to define a custom [`Gain`] that generates a single focal point.
67///
68/// ```
69/// use autd3_core::derive::*;
70/// use autd3_core::geometry::Point3;
71/// use autd3_core::common::rad;
72///
73/// #[derive(Gain, Debug)]
74/// pub struct FocalPoint {
75///     pos: Point3,
76/// }
77///
78/// #[derive(Clone, Copy)]
79/// pub struct Impl {
80///     pos: Point3,
81///     wavenumber: f32,
82/// }
83///
84/// impl<'a> GainCalculator<'a> for Impl {
85///     fn calc(&self, tr: &'a Transducer) -> Drive {
86///         Drive {
87///             phase: Phase::from(-(self.pos - tr.position()).norm() * self.wavenumber * rad),
88///             intensity: Intensity::MAX,
89///         }
90///     }
91/// }
92///
93/// impl<'a> GainCalculatorGenerator<'a> for Impl {
94///     type Calculator = Self;
95///
96///     fn generate(&mut self, _: &'a Device) -> Self::Calculator {
97///        *self
98///     }
99/// }
100///
101/// impl<'a> Gain<'a> for FocalPoint {
102///     type G = Impl;
103///
104///     fn init(
105///         self,
106///         _geometry: &'a Geometry,
107///         env: &Environment,
108///         _filter: &TransducerMask ,
109///     ) -> Result<Self::G, GainError> {
110///         Ok(Impl {
111///             pos: self.pos,
112///             wavenumber: env.wavenumber(),
113///         })
114///     }
115/// }
116/// ```
117///
118/// The following example shows how to define a modulation that outputs the maximum value only for a moment.
119///
120/// ```
121/// use autd3_core::common::kHz;
122/// use autd3_core::derive::*;
123///
124/// #[derive(Modulation, Debug)]
125/// pub struct Burst {
126/// }
127///
128/// impl Burst {
129///     pub fn new() -> Self {
130///         Self {}
131///     }
132/// }
133///
134/// impl Modulation for Burst {
135///     fn calc(self, _limits: &FirmwareLimits) -> Result<Vec<u8>, ModulationError>  {
136///         Ok((0..4000)
137///             .map(|i| if i == 3999 { u8::MAX } else { u8::MIN })
138///             .collect())
139///     }
140///
141///     fn sampling_config(&self) -> SamplingConfig {
142///         SamplingConfig::new(4. * kHz)
143///     }
144/// }
145/// ```
146///
147/// [`Gain`]: crate::gain::Gain
148/// [`Modulation`]: crate::modulation::Modulation
149#[cfg_attr(docsrs, doc(cfg(feature = "derive")))]
150#[cfg(feature = "derive")]
151pub mod derive {
152    #[cfg(any(feature = "gain", feature = "modulation"))]
153    mod common {
154        pub use crate::{
155            datagram::{DatagramOption, DeviceMask, Inspectable, InspectionResult, internal},
156            environment::Environment,
157            firmware::{FirmwareLimits, Segment, transition_mode},
158            geometry::Geometry,
159        };
160    }
161    #[cfg(any(feature = "gain", feature = "modulation"))]
162    pub use common::*;
163
164    #[cfg(feature = "gain")]
165    mod gain {
166        pub use crate::{
167            datagram::DatagramS,
168            firmware::{Drive, Intensity, Phase},
169            gain::{
170                DeviceTransducerMask, Gain, GainCalculator, GainCalculatorGenerator, GainError,
171                GainInspectionResult, GainOperationGenerator, TransducerMask,
172            },
173            geometry::{Device, Transducer},
174        };
175        pub use autd3_derive::Gain;
176    }
177    #[cfg(feature = "gain")]
178    pub use gain::*;
179
180    #[cfg(feature = "modulation")]
181    mod modulation {
182        pub use crate::datagram::{Datagram, DatagramL};
183        pub use crate::firmware::{SamplingConfig, SamplingConfigError};
184        pub use crate::modulation::{
185            Modulation, ModulationError, ModulationInspectionResult, ModulationOperationGenerator,
186        };
187        pub use autd3_derive::Modulation;
188    }
189    #[cfg(feature = "modulation")]
190    pub use modulation::*;
191}
autd3_core/lib.rs

autd3_core/
lib.rs
