autd3_core/
lib.rs

1#![cfg_attr(docsrs, feature(doc_cfg))]
2#![warn(missing_docs)]
3#![warn(rustdoc::missing_crate_level_docs)]
4#![warn(rustdoc::unescaped_backticks)]
5
6//! Core traits and types for AUTD3.
7
8#[cfg_attr(docsrs, doc(cfg(feature = "acoustics")))]
9#[cfg(feature = "acoustics")]
10/// Utilities for acoustics.
11pub mod acoustics;
12#[cfg_attr(docsrs, doc(cfg(feature = "common")))]
13#[cfg(feature = "common")]
14/// Common constants and types.
15pub mod common;
16#[cfg_attr(docsrs, doc(cfg(feature = "datagram")))]
17#[cfg(feature = "datagram")]
18/// Core traits for [`Datagram`].
19///
20/// [`Datagram`]: crate::datagram::Datagram
21pub mod datagram;
22#[cfg_attr(docsrs, doc(cfg(feature = "devices")))]
23#[cfg(feature = "devices")]
24/// Definitions for devices.
25pub mod devices;
26#[cfg_attr(docsrs, doc(cfg(feature = "environment")))]
27#[cfg(feature = "environment")]
28#[doc(hidden)]
29pub mod environment;
30#[cfg_attr(docsrs, doc(cfg(feature = "ethercat")))]
31#[cfg(feature = "ethercat")]
32/// Definitions for EtherCAT.
33pub mod ethercat;
34#[cfg_attr(docsrs, doc(cfg(feature = "firmware")))]
35#[cfg(feature = "firmware")]
36/// Firmware related modules.
37pub mod firmware;
38#[cfg_attr(docsrs, doc(cfg(feature = "gain")))]
39#[cfg(feature = "gain")]
40/// Core traits for [`Gain`].
41///
42/// [`Gain`]: crate::gain::Gain
43pub mod gain;
44#[cfg_attr(docsrs, doc(cfg(feature = "geometry")))]
45#[cfg(feature = "geometry")]
46/// Geometry related modules.
47pub mod geometry;
48#[cfg_attr(docsrs, doc(cfg(feature = "link")))]
49#[cfg(feature = "link")]
50/// A interface to the device.
51pub mod link;
52#[cfg_attr(docsrs, doc(cfg(feature = "modulation")))]
53#[cfg(feature = "modulation")]
54/// Core traits for [`Modulation`].
55///
56/// [`Modulation`]: crate::modulation::Modulation
57pub mod modulation;
58#[cfg_attr(docsrs, doc(cfg(feature = "sleep")))]
59#[cfg(feature = "sleep")]
60#[doc(hidden)]
61pub mod sleep;
62#[cfg_attr(docsrs, doc(cfg(feature = "utils")))]
63#[cfg(feature = "utils")]
64#[doc(hidden)]
65pub mod utils;
66
67/// Utilities for user-defined [`Gain`] and [`Modulation`].
68///
69/// # Example
70///
71/// The following example shows how to define a custom [`Gain`] that generates a single focal point.
72///
73/// ```
74/// use autd3_core::derive::*;
75/// use autd3_core::geometry::Point3;
76/// use autd3_core::common::rad;
77///
78/// #[derive(Gain, Debug)]
79/// pub struct FocalPoint {
80///     pos: Point3,
81/// }
82///
83/// #[derive(Clone, Copy)]
84/// pub struct Impl {
85///     pos: Point3,
86///     wavenumber: f32,
87/// }
88///
89/// impl<'a> GainCalculator<'a> for Impl {
90///     fn calc(&self, tr: &'a Transducer) -> Drive {
91///         Drive {
92///             phase: Phase::from(-(self.pos - tr.position()).norm() * self.wavenumber * rad),
93///             intensity: Intensity::MAX,
94///         }
95///     }
96/// }
97///
98/// impl<'a> GainCalculatorGenerator<'a> for Impl {
99///     type Calculator = Self;
100///
101///     fn generate(&mut self, _: &'a Device) -> Self::Calculator {
102///        *self
103///     }
104/// }
105///
106/// impl<'a> Gain<'a> for FocalPoint {
107///     type G = Impl;
108///
109///     fn init(
110///         self,
111///         _geometry: &'a Geometry,
112///         env: &Environment,
113///         _filter: &TransducerMask ,
114///     ) -> Result<Self::G, GainError> {
115///         Ok(Impl {
116///             pos: self.pos,
117///             wavenumber: env.wavenumber(),
118///         })
119///     }
120/// }
121/// ```
122///
123/// The following example shows how to define a modulation that outputs the maximum value only for a moment.
124///
125/// ```
126/// use autd3_core::common::kHz;
127/// use autd3_core::derive::*;
128///
129/// #[derive(Modulation, Debug)]
130/// pub struct Burst {
131/// }
132///
133/// impl Burst {
134///     pub fn new() -> Self {
135///         Self {}
136///     }
137/// }
138///
139/// impl Modulation for Burst {
140///     fn calc(self) -> Result<Vec<u8>, ModulationError>  {
141///         Ok(core::iter::repeat(u8::MIN)
142///             .take(3999)
143///             .chain(core::iter::once(u8::MAX))
144///             .collect())
145///     }
146///
147///     fn sampling_config(&self) -> SamplingConfig {
148///         SamplingConfig::new(4. * kHz)
149///     }
150/// }
151/// ```
152///
153/// [`Gain`]: crate::gain::Gain
154/// [`Modulation`]: crate::modulation::Modulation
155#[cfg_attr(docsrs, doc(cfg(feature = "derive")))]
156#[cfg(feature = "derive")]
157pub mod derive {
158    #[cfg(any(feature = "gain", feature = "modulation"))]
159    mod common {
160        pub use crate::{
161            datagram::{DatagramOption, DeviceMask, Inspectable, InspectionResult, internal},
162            environment::Environment,
163            firmware::{Segment, transition_mode},
164            geometry::Geometry,
165        };
166    }
167    #[cfg(any(feature = "gain", feature = "modulation"))]
168    pub use common::*;
169
170    #[cfg(feature = "gain")]
171    mod gain {
172        pub use crate::{
173            datagram::DatagramS,
174            firmware::{Drive, Intensity, Phase},
175            gain::{
176                DeviceTransducerMask, Gain, GainCalculator, GainCalculatorGenerator, GainError,
177                GainInspectionResult, GainOperationGenerator, TransducerMask,
178            },
179            geometry::{Device, Transducer},
180        };
181        pub use autd3_derive::Gain;
182    }
183    #[cfg(feature = "gain")]
184    pub use gain::*;
185
186    #[cfg(feature = "modulation")]
187    mod modulation {
188        pub use crate::datagram::{Datagram, DatagramL};
189        pub use crate::firmware::{SamplingConfig, SamplingConfigError};
190        pub use crate::modulation::{
191            Modulation, ModulationError, ModulationInspectionResult, ModulationOperationGenerator,
192        };
193        pub use autd3_derive::Modulation;
194    }
195    #[cfg(feature = "modulation")]
196    pub use modulation::*;
197}
autd3_core/lib.rs

autd3_core/
lib.rs
