autd3-rs 0.3.0

Core async client library for the AUTD3 phased-array kit.
Documentation 
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use crate::error::{Error, PayloadError};
use crate::geometry::Autd3;
use crate::protocol::{Cmd, PAYLOAD_BYTES};
use crate::value::Phase;

use super::{Distribution, Operation};

#[derive(Clone, Copy, Debug)]
pub struct SetPhaseCorrection<'a> {
    pub phases: &'a [Vec<Phase>],
}

impl Operation for SetPhaseCorrection<'_> {
    fn frames(&self) -> usize {
        1
    }

    fn distribution(&self) -> Distribution {
        Distribution::PerDevice
    }

    fn encode(
        &self,
        device: usize,
        _frame: usize,
        out: &mut [u8; PAYLOAD_BYTES],
    ) -> Result<Cmd, Error> {
        let phases = self.phases.get(device).ok_or(Error::InvalidPayload(
            PayloadError::EmissionsDeviceOutOfRange {
                device,
                len: self.phases.len(),
            },
        ))?;
        if phases.len() != Autd3::NUM_TRANSDUCERS {
            return Err(Error::InvalidPayload(
                PayloadError::TransducerCountMismatch {
                    device,
                    got: phases.len(),
                    expected: Autd3::NUM_TRANSDUCERS,
                },
            ));
        }
        for (i, phase) in phases.iter().enumerate() {
            out[i] = phase.0;
        }
        Ok(Cmd::SetPhaseCorrection)
    }
}

#[cfg(test)]
mod tests {
    use super::*;

    #[test]
    fn phase_corr_lays_out_bytes() {
        let phases: Vec<Phase> = (0..Autd3::NUM_TRANSDUCERS)
            .map(|i| Phase(u8::try_from(i % 256).unwrap()))
            .collect();
        let data = vec![phases.clone()];
        let mut out = [0u8; PAYLOAD_BYTES];
        let cmd = SetPhaseCorrection { phases: &data }
            .encode(0, 0, &mut out)
            .unwrap();
        assert_eq!(cmd, Cmd::SetPhaseCorrection);
        for (i, p) in phases.iter().enumerate() {
            assert_eq!(out[i], p.0);
        }
    }

    #[test]
    fn phase_corr_rejects_device_out_of_range() {
        let data = vec![vec![Phase::ZERO; Autd3::NUM_TRANSDUCERS]];
        let mut out = [0u8; PAYLOAD_BYTES];
        assert!(matches!(
            SetPhaseCorrection { phases: &data }.encode(1, 0, &mut out),
            Err(Error::InvalidPayload(_))
        ));
    }

    #[test]
    fn phase_corr_rejects_wrong_transducer_count() {
        let data = vec![vec![Phase::ZERO; Autd3::NUM_TRANSDUCERS - 1]];
        let mut out = [0u8; PAYLOAD_BYTES];
        assert!(matches!(
            SetPhaseCorrection { phases: &data }.encode(0, 0, &mut out),
            Err(Error::InvalidPayload(
                PayloadError::TransducerCountMismatch { .. }
            ))
        ));
    }
}