autd3_core/environment/
mod.rs

1use core::f32::consts::PI;
2
3use crate::common::{METER, ULTRASOUND_FREQ};
4
5#[non_exhaustive]
6#[repr(C)]
7#[derive(Debug, Clone, Copy, PartialEq)]
8pub struct Environment {
9    #[cfg_attr(feature = "use_meter", doc = "Sound speed in the environment [m/s]")]
10    #[cfg_attr(
11        not(feature = "use_meter"),
12        doc = "Sound speed in the environment [mm/s]"
13    )]
14    pub sound_speed: f32,
15}
16
17impl Environment {
18    /// Creates a new environment with the default sound speed (340m/s).
19    pub fn new() -> Self {
20        Self {
21            sound_speed: 340.0 * METER,
22        }
23    }
24
25    /// Sets the sound speed of envs from the temperature.
26    ///
27    /// This is equivalent to [`Self::set_sound_speed_from_temp_with`](t, 1.4, 8.314_463, 28.9647e-3).
28    pub fn set_sound_speed_from_temp(&mut self, t: f32) {
29        self.set_sound_speed_from_temp_with(t, 1.4, 8.314_463, 28.9647e-3);
30    }
31
32    /// Sets the sound speed of envs from the temperature `t`, heat capacity ratio `k`, gas constant `r`, and molar mass `m` \[kg/mol\].
33    pub fn set_sound_speed_from_temp_with(&mut self, t: f32, k: f32, r: f32, m: f32) {
34        let c2 = k * r * (273.15 + t) / m;
35        let c = c2.sqrt();
36        self.sound_speed = c * METER;
37    }
38
39    /// Gets the wavelength of the ultrasound.
40    #[must_use]
41    pub const fn wavelength(&self) -> f32 {
42        self.sound_speed / ULTRASOUND_FREQ.hz() as f32
43    }
44
45    /// Gets the wavenumber of the ultrasound.
46    #[must_use]
47    pub const fn wavenumber(&self) -> f32 {
48        2.0 * PI * ULTRASOUND_FREQ.hz() as f32 / self.sound_speed
49    }
50}
51
52impl Default for Environment {
53    fn default() -> Self {
54        Self::new()
55    }
56}
57
58#[cfg(test)]
59pub(crate) mod tests {
60    use super::*;
61    use crate::common::mm;
62
63    #[rstest::rstest]
64    #[case(340.29525e3, 15.)]
65    #[case(343.23497e3, 20.)]
66    #[case(349.04013e3, 30.)]
67    fn set_sound_speed_from_temp(#[case] expected: f32, #[case] temp: f32) {
68        let mut env = Environment::new();
69        env.set_sound_speed_from_temp(temp);
70        approx::assert_abs_diff_eq!(expected * mm, env.sound_speed, epsilon = 1e-3);
71    }
72
73    #[rstest::rstest]
74    #[case(8.5, 340e3)]
75    #[case(10., 400e3)]
76    fn wavelength(#[case] expect: f32, #[case] c: f32) {
77        let mut env = Environment::new();
78        env.sound_speed = c;
79        approx::assert_abs_diff_eq!(expect, env.wavelength());
80    }
81
82    #[rstest::rstest]
83    #[case(0.739_198_27, 340e3)]
84    #[case(0.628_318_55, 400e3)]
85    fn wavenumber(#[case] expect: f32, #[case] c: f32) {
86        let mut env = Environment::new();
87        env.sound_speed = c;
88        approx::assert_abs_diff_eq!(expect, env.wavenumber());
89    }
90}
autd3_core/environment/mod.rs

autd3_core/environment/
mod.rs
