autd3-rs 0.5.0

Core async client library for the AUTD3 phased-array kit.
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
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157

use thiserror::Error;

use autd3_rs_core::error::{EncodeError, LinkError};
use autd3_rs_core::protocol::describe_device_error;

use crate::mirror::{BankLoop, SilencerAxis};
use autd3_rs_core::value::{PulseWidthError, SamplingConfigError, TransitionMode};

#[derive(Debug, Error)]
pub enum Error {
    #[error("device {device} firmware error {code:#04x}: {}", describe_device_error(*code))]
    DeviceError { device: usize, code: u8 },

    #[error(
        "device {device}: strict silencer {axis:?} completion {completion_steps} steps exceeds sampling divider {sampling_div}"
    )]
    SilencerConstraint {
        device: usize,
        axis: SilencerAxis,
        completion_steps: u16,
        sampling_div: u16,
    },

    #[error(
        "device {device}: transition mode {transition_mode:?} is invalid for a {bank_loop:?} loop bank"
    )]
    TransitionConstraint {
        device: usize,
        transition_mode: TransitionMode,
        bank_loop: BankLoop,
    },

    #[error("ack timeout after {cycles} cycles")]
    Timeout { cycles: u32 },

    #[error("link error: {0}")]
    Link(String),

    #[error("invalid payload: {0}")]
    InvalidPayload(PayloadError),

    #[error(transparent)]
    Encode(#[from] EncodeError),

    #[error("client RT worker is no longer alive")]
    RtClosed,
}

impl From<LinkError> for Error {
    fn from(e: LinkError) -> Self {
        Error::Link(e.0)
    }
}

impl<E> From<E> for Error
where
    E: Into<PayloadError>,
{
    fn from(value: E) -> Self {
        Error::InvalidPayload(value.into())
    }
}

#[derive(Clone, Copy, Debug, PartialEq, Error)]
pub enum PayloadError {
    #[error("max_inflight must be <= {max}")]
    MaxInflightTooLarge { max: usize },

    #[error("link must expose 1..={max} devices, got {got}")]
    DeviceCountOutOfRange { got: usize, max: usize },

    #[error("geometry has {geometry} device(s) but link exposes {link}")]
    GeometryDeviceMismatch { geometry: usize, link: usize },

    #[error("expected {expected} datagram(s) (one per device), got {got}")]
    DatagramCountMismatch { expected: usize, got: usize },

    #[error("modulation size {size} out of range {min}..={max}")]
    ModulationSizeOutOfRange { size: usize, min: usize, max: usize },

    #[error("modulation data must not be empty")]
    ModulationDataEmpty,

    #[error("modulation offset {offset} must be even (word-write-only RAM)")]
    ModulationOffsetNotEven { offset: usize },

    #[error("modulation write [{offset}, {end}) exceeds buffer capacity {capacity}")]
    ModulationWriteExceedsCapacity {
        offset: usize,
        end: usize,
        capacity: usize,
    },

    #[error("foci must not be empty")]
    FociEmpty,

    #[error("foci write [{offset}, {end}) exceeds capacity {capacity}")]
    FociWriteExceedsCapacity {
        offset: usize,
        end: usize,
        capacity: usize,
    },

    #[error("silencer completion time {0:?} must be a multiple of the ultrasound period")]
    SilencerCompletionTimeNotMultiple(core::time::Duration),

    #[error("silencer completion time {0:?} is out of range (1..=65535 ultrasound periods)")]
    SilencerCompletionTimeOutOfRange(core::time::Duration),

    #[error("pattern size {size} must be >= {min}")]
    PatternSizeTooSmall { size: usize, min: usize },

    #[error("a {size}-sample bank never advances its index, so it requires an infinite loop")]
    FiniteLoopNeedsMultipleSamples { size: usize },

    #[error("num_foci {num_foci} out of range 1..={max}")]
    NumFociOutOfRange { num_foci: u8, max: u8 },

    #[error("STM size {size} x num_foci {num_foci} exceeds capacity {capacity}")]
    StmFociExceedCapacity {
        size: usize,
        num_foci: u8,
        capacity: usize,
    },

    #[error("sound_speed must be >= 1")]
    SoundSpeedZero,

    #[error("STM size {size} out of range {min}..={max}")]
    StmSizeOutOfRange { size: usize, min: usize, max: usize },

    #[error("emissions has {len} entr(ies) but device {device} was requested")]
    EmissionsDeviceOutOfRange { device: usize, len: usize },

    #[error("device {device} has {got} transducer entr(ies) but {expected} are required")]
    TransducerCountMismatch {
        device: usize,
        got: usize,
        expected: usize,
    },

    #[error("device {device} pattern data ({len} byte(s)) exceeds frame capacity {capacity}")]
    PatternWriteExceedsCapacity {
        device: usize,
        len: usize,
        capacity: usize,
    },

    #[error("pattern STM index {index} out of range 0..{max}")]
    PatternIndexOutOfRange { index: usize, max: usize },

    #[error(transparent)]
    SamplingConfig(#[from] SamplingConfigError),

    #[error(transparent)]
    PulseWidth(#[from] PulseWidthError),
}