autd3-rs 0.5.0

Core async client library for the AUTD3 phased-array kit.
Documentation 
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use autd3_cpu_wire::payload::ConfigModPayload;
use zerocopy::FromBytes;
use zerocopy::little_endian::{U16, U32};

use crate::error::{Error, PayloadError};
use crate::geometry::Device;
use crate::mirror::FirmwareState;
use crate::params::{BUFFER_SIZE_MIN, MOD_BUFFER_SAMPLES};
use crate::protocol::{Cmd, PAYLOAD_BYTES};
use crate::value::{LoopBehavior, ModulationBank, SamplingConfig};

use super::{Distribution, Operation};

#[derive(Clone, Copy, Debug)]
pub struct ConfigModulation {
    pub bank: ModulationBank,
    pub config: SamplingConfig,
    pub size: usize,
    pub loop_behavior: LoopBehavior,
}

impl Operation for ConfigModulation {
    fn distribution(&self) -> Distribution {
        Distribution::Broadcast
    }

    fn encode(&self, _device: &Device, out: &mut [u8; PAYLOAD_BYTES]) -> Result<Cmd, Error> {
        let divider = self.config.divide()?;
        if self.size < BUFFER_SIZE_MIN || self.size > MOD_BUFFER_SAMPLES {
            return Err(PayloadError::ModulationSizeOutOfRange {
                size: self.size,
                min: BUFFER_SIZE_MIN,
                max: MOD_BUFFER_SAMPLES,
            }
            .into());
        }
        let (p, _) = ConfigModPayload::mut_from_prefix(&mut out[..]).unwrap();
        *p = ConfigModPayload {
            bank: self.bank.as_u8(),
            reserved: 0,
            divider: U16::new(divider),
            size: U32::new(u32::try_from(self.size).expect("bounded by MOD_BUFFER_SAMPLES")),
            rep: U16::new(self.loop_behavior.rep()),
        };
        Ok(Cmd::ConfigModulation)
    }

    fn reflect(&self, device: usize, state: &mut FirmwareState) -> Result<(), Error> {
        let divider = self.config.divide()?;
        state.silencer.check_mod_div(device, divider)?;
        state.silencer.note_mod_div(self.bank.as_u8(), divider);
        state
            .transition
            .note_mod_loop(self.bank.as_u8(), self.loop_behavior);
        Ok(())
    }
}

#[cfg(test)]
mod tests {
    use super::*;
    use crate::test_utils::test_device;
    use core::num::NonZeroU16;

    fn encode(op: ConfigModulation) -> Result<(Cmd, [u8; PAYLOAD_BYTES]), Error> {
        let mut out = [0u8; PAYLOAD_BYTES];
        let cmd = op.encode(&test_device(0), &mut out)?;
        Ok((cmd, out))
    }

    #[test]
    fn config_modulation_lays_out_fields() {
        let (cmd, payload) = encode(ConfigModulation {
            bank: ModulationBank::B1,
            config: SamplingConfig::new(NonZeroU16::new(10).unwrap()),
            size: 4000,
            loop_behavior: LoopBehavior::Finite(NonZeroU16::new(10).unwrap()),
        })
        .unwrap();

        assert_eq!(cmd, Cmd::ConfigModulation);
        assert_eq!(payload[0], 1);
        assert_eq!(payload[1], 0);
        assert_eq!(&payload[2..4], &10u16.to_le_bytes());
        assert_eq!(&payload[4..8], &4000u32.to_le_bytes());
        assert_eq!(&payload[8..10], &9u16.to_le_bytes());
        assert!(payload[10..].iter().all(|&b| b == 0));
    }

    #[test]
    fn config_modulation_rejects_invalid_fields() {
        let base = ConfigModulation {
            bank: ModulationBank::B0,
            config: SamplingConfig::new(NonZeroU16::MIN),
            size: 2,
            loop_behavior: LoopBehavior::Infinite,
        };
        assert!(matches!(
            encode(ConfigModulation {
                config: SamplingConfig::new(core::time::Duration::from_nanos(1)),
                ..base
            }),
            Err(Error::InvalidPayload(_))
        ));
        assert!(matches!(
            encode(ConfigModulation { size: 0, ..base }),
            Err(Error::InvalidPayload(_))
        ));
        assert!(
            matches!(
                encode(ConfigModulation { size: 1, ..base }),
                Err(Error::InvalidPayload(_))
            ),
            "a single sample never advances the FPGA index"
        );
        assert!(matches!(
            encode(ConfigModulation {
                size: MOD_BUFFER_SAMPLES + 1,
                ..base
            }),
            Err(Error::InvalidPayload(_))
        ));
        assert!(
            encode(ConfigModulation {
                size: MOD_BUFFER_SAMPLES,
                ..base
            })
            .is_ok()
        );
    }
}