autd3_driver/firmware/driver/
mod.rs

1/// Asynchronous module.
2#[cfg_attr(docsrs, doc(cfg(feature = "async")))]
3#[cfg(feature = "async")]
4pub mod r#async;
5
6pub(crate) mod operation;
7mod option;
8mod parallel_mode;
9mod strategy;
10
11pub(crate) use operation::{DOperationGenerator, DynOperationGenerator, NullOp, write_to_tx};
12
13// `BoxedOperation` must be pub for capi
14pub use operation::{BoxedDatagram, BoxedOperation, Operation, OperationHandler, Version};
15pub use option::SenderOption;
16pub use parallel_mode::ParallelMode;
17pub use strategy::{FixedDelay, FixedSchedule, TimerStrategy};
18
19use autd3_core::{
20    environment::Environment,
21    firmware::FirmwareLimits,
22    geometry::Geometry,
23    link::{MsgId, RxMessage},
24};
25
26use crate::{error::AUTDDriverError, firmware::version::FirmwareVersion};
27
28#[doc(hidden)]
29pub trait Sender<'a, L, S, T> {
30    fn initialize_devices(self) -> Result<(), AUTDDriverError>;
31    fn firmware_version(self) -> Result<Vec<FirmwareVersion>, AUTDDriverError>;
32    fn close(self) -> Result<(), AUTDDriverError>;
33}
34
35#[doc(hidden)]
36pub trait FPGAState
37where
38    Self: Sized,
39{
40    fn from_rx(rx: &RxMessage) -> Option<Self>;
41}
42
43#[doc(hidden)]
44pub trait Driver {
45    type Sender<'a, L, S, T>: Sender<'a, L, S, T>
46    where
47        L: autd3_core::link::Link + 'a,
48        S: autd3_core::sleep::Sleep,
49        T: TimerStrategy<S>;
50    type FPGAState: FPGAState;
51
52    fn new() -> Self;
53
54    fn detect_version<'a, L>(
55        &mut self,
56        _msg_id: &'a mut autd3_core::link::MsgId,
57        _link: &'a mut L,
58        _geometry: &'a autd3_core::geometry::Geometry,
59        _sent_flags: &'a mut [bool],
60        _rx: &'a mut [autd3_core::link::RxMessage],
61        _env: &'a Environment,
62    ) -> Result<(), AUTDDriverError>
63    where
64        L: autd3_core::link::Link + 'a,
65    {
66        Ok(())
67    }
68
69    #[allow(clippy::too_many_arguments)]
70    fn sender<'a, L, S, T>(
71        &self,
72        msg_id: &'a mut MsgId,
73        link: &'a mut L,
74        geometry: &'a Geometry,
75        sent_flags: &'a mut [bool],
76        rx: &'a mut [RxMessage],
77        env: &'a Environment,
78        option: SenderOption,
79        timer_strategy: T,
80    ) -> Self::Sender<'a, L, S, T>
81    where
82        L: autd3_core::link::Link + 'a,
83        S: autd3_core::sleep::Sleep,
84        T: TimerStrategy<S>;
85    fn firmware_limits(&self) -> FirmwareLimits;
86}
autd3_driver/firmware/driver/mod.rs

autd3_driver/firmware/driver/
mod.rs
