autd3-protobuf 30.0.1

gRPC protobuf for autd3
Documentation 
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use autd3::driver::defined::Hz;

use crate::{
    AUTDProtoBufError,
    pb::*,
    traits::{FromMessage, ToMessage},
};
use std::{num::NonZeroU16, time::Duration};

impl ToMessage for autd3_driver::firmware::fpga::SamplingConfig {
    type Message = SamplingConfig;

    fn to_msg(
        &self,
        _: Option<&autd3_core::geometry::Geometry>,
    ) -> Result<Self::Message, AUTDProtoBufError> {
        Ok(match self {
            autd3_driver::firmware::fpga::SamplingConfig::Division(div) => SamplingConfig {
                variant: Some(sampling_config::Variant::Division(
                    sampling_config::Division {
                        div: div.get() as _,
                    },
                )),
            },
            autd3_driver::firmware::fpga::SamplingConfig::Freq(freq) => SamplingConfig {
                variant: Some(sampling_config::Variant::Freq(sampling_config::Freq {
                    freq: freq.hz(),
                })),
            },
            autd3_driver::firmware::fpga::SamplingConfig::FreqNearest(freq) => SamplingConfig {
                variant: Some(sampling_config::Variant::FreqNearest(
                    sampling_config::FreqNearest { freq: freq.0.hz() },
                )),
            },
            autd3_driver::firmware::fpga::SamplingConfig::Period(period) => SamplingConfig {
                variant: Some(sampling_config::Variant::Period(sampling_config::Period {
                    ns: period.as_nanos() as _,
                })),
            },
            autd3_driver::firmware::fpga::SamplingConfig::PeriodNearest(period) => SamplingConfig {
                variant: Some(sampling_config::Variant::PeriodNearest(
                    sampling_config::PeriodNearest {
                        ns: period.0.as_nanos() as _,
                    },
                )),
            },
        })
    }
}

impl FromMessage<SamplingConfig> for autd3_driver::firmware::fpga::SamplingConfig {
    fn from_msg(msg: SamplingConfig) -> Result<Self, AUTDProtoBufError> {
        Ok(
            match msg.variant.ok_or(AUTDProtoBufError::DataParseError)? {
                sampling_config::Variant::Division(division) => {
                    autd3_driver::firmware::fpga::SamplingConfig::Division(NonZeroU16::try_from(
                        u16::try_from(division.div)?,
                    )?)
                }
                sampling_config::Variant::Freq(freq) => {
                    autd3_driver::firmware::fpga::SamplingConfig::Freq(freq.freq * Hz)
                }
                sampling_config::Variant::FreqNearest(freq) => {
                    autd3_driver::firmware::fpga::SamplingConfig::Freq(freq.freq * Hz)
                        .into_nearest()
                }
                sampling_config::Variant::Period(period) => {
                    autd3_driver::firmware::fpga::SamplingConfig::Period(Duration::from_nanos(
                        period.ns,
                    ))
                }
                sampling_config::Variant::PeriodNearest(period) => {
                    autd3_driver::firmware::fpga::SamplingConfig::Period(Duration::from_nanos(
                        period.ns,
                    ))
                    .into_nearest()
                }
            },
        )
    }
}

#[cfg(test)]
mod tests {
    use super::*;
    use autd3_driver::firmware::fpga::SamplingConfig;
    use rand::Rng;

    #[test]
    fn test_sampling_config() {
        let mut rng = rand::rng();
        let v = SamplingConfig::new(NonZeroU16::new(rng.random_range(0x0001..=0xFFFF)).unwrap());
        let msg = v.to_msg(None).unwrap();
        let v2 = SamplingConfig::from_msg(msg).unwrap();
        assert_eq!(v, v2);
    }
}