autd3-protobuf 30.0.0

gRPC protobuf for autd3
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40

use crate::{
    AUTDProtoBufError,
    pb::*,
    traits::{FromMessage, ToMessage},
};

impl ToMessage for autd3_core::defined::Angle {
    type Message = Angle;

    fn to_msg(
        &self,
        _: Option<&autd3_core::geometry::Geometry>,
    ) -> Result<Self::Message, AUTDProtoBufError> {
        Ok(Self::Message {
            rad: self.radian() as _,
        })
    }
}

impl FromMessage<Angle> for autd3_core::defined::Angle {
    fn from_msg(msg: Angle) -> Result<Self, AUTDProtoBufError> {
        Ok(msg.rad * autd3_core::defined::rad)
    }
}

#[cfg(test)]
mod tests {
    use super::*;
    use autd3_core::defined::{Angle, rad};
    use rand::Rng;

    #[test]
    fn angle() {
        let mut rng = rand::rng();
        let v = rng.random::<f32>() * rad;
        let msg = v.to_msg(None).unwrap();
        let v2 = Angle::from_msg(msg).unwrap();
        approx::assert_abs_diff_eq!(v.radian(), v2.radian());
    }
}