autd3-rs 0.6.1

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

use autd3_rs_core::value::{PatternBank, TransitionMode};

use super::LegacyCommand;
use super::adapt::{pattern_segment, transition_mode};
use crate::legacy::datagram::LegacyDatagramBuilder;
use crate::legacy::op;

#[derive(Clone, Copy, Debug, PartialEq, Eq)]
enum Kind {
    Pattern,
    FociStm,
    PatternStm,
}

#[derive(Clone, Copy, Debug, PartialEq, Eq)]
pub struct LegacyChangePatternBank {
    kind: Kind,
    bank: PatternBank,
    transition_mode: TransitionMode,
}

impl LegacyChangePatternBank {
    #[must_use]
    pub const fn pattern(bank: PatternBank) -> Self {
        Self {
            kind: Kind::Pattern,
            bank,
            transition_mode: TransitionMode::Immediate,
        }
    }

    #[must_use]
    pub const fn foci_stm(bank: PatternBank, transition_mode: TransitionMode) -> Self {
        Self {
            kind: Kind::FociStm,
            bank,
            transition_mode,
        }
    }

    #[must_use]
    pub const fn pattern_stm(bank: PatternBank, transition_mode: TransitionMode) -> Self {
        Self {
            kind: Kind::PatternStm,
            bank,
            transition_mode,
        }
    }
}

impl<'a> LegacyCommand<'a> for LegacyChangePatternBank {
    fn expand(self, builder: &mut LegacyDatagramBuilder<'a>) {
        let segment = pattern_segment(self.bank);
        let mode = transition_mode(self.transition_mode, builder.dc_offset_ns());
        builder.push_op(match self.kind {
            Kind::Pattern => op::LegacyChangePatternBank::gain(segment),
            Kind::FociStm => op::LegacyChangePatternBank::foci_stm(segment, mode),
            Kind::PatternStm => op::LegacyChangePatternBank::gain_stm(segment, mode),
        });
    }
}

#[cfg(test)]
mod tests {
    use std::sync::Arc;

    use autd3_rs_core::geometry::{Autd3, Geometry};
    use autd3_rs_core::value::{DcSysTime, GpioIn};

    use super::*;
    use crate::legacy::wire::{Segment, Tag};

    fn frames(cmd: LegacyChangePatternBank) -> Vec<u8> {
        let geometry = Arc::new(Geometry::new(vec![Autd3::default()]));
        let mut builder = LegacyDatagramBuilder::new(geometry);
        builder.push(cmd);
        let frames = builder.build().unwrap();
        assert_eq!(frames.len(), 1);
        frames.frame(0).unwrap().frames()[0].payload.to_vec()
    }

    #[test]
    fn pattern_maps_onto_the_gain_tag_without_a_transition() {
        for (bank, segment) in [
            (PatternBank::B0, Segment::S0),
            (PatternBank::B1, Segment::S1),
        ] {
            let payload = frames(LegacyChangePatternBank::pattern(bank));
            assert_eq!(payload[0], Tag::GainLegacyChangePatternBank.as_u8());
            assert_eq!(payload[1], segment.as_u8());
        }
    }

    #[test]
    fn stm_kinds_map_onto_their_tags_and_carry_the_transition() {
        let time = DcSysTime::from_nanos(0x0123_4567_89AB_CDEF);
        for (bank, segment) in [
            (PatternBank::B0, Segment::S0),
            (PatternBank::B1, Segment::S1),
        ] {
            for mode in [
                TransitionMode::SyncIdx,
                TransitionMode::SysTime { time, margin: None },
                TransitionMode::Gpio(GpioIn::I2),
                TransitionMode::Ext,
                TransitionMode::Immediate,
            ] {
                for (tag, cmd) in [
                    (
                        Tag::FociStmLegacyChangePatternBank,
                        LegacyChangePatternBank::foci_stm(bank, mode),
                    ),
                    (
                        Tag::GainStmLegacyChangePatternBank,
                        LegacyChangePatternBank::pattern_stm(bank, mode),
                    ),
                ] {
                    let payload = frames(cmd);
                    let expected = transition_mode(mode, 0);
                    assert_eq!(payload[0], tag.as_u8());
                    assert_eq!(payload[1], segment.as_u8());
                    assert_eq!(payload[2], expected.as_u8());
                    assert_eq!(&payload[8..16], &expected.value().to_le_bytes());
                }
            }
        }
    }

    #[test]
    fn the_user_facing_command_packs_exactly_like_the_wire_op() {
        let time = DcSysTime::from_nanos(0x1234);
        let mode = TransitionMode::SysTime { time, margin: None };
        for (cmd, mut op) in [
            (
                LegacyChangePatternBank::pattern(PatternBank::B1),
                op::LegacyChangePatternBank::gain(Segment::S1),
            ),
            (
                LegacyChangePatternBank::foci_stm(PatternBank::B0, mode),
                op::LegacyChangePatternBank::foci_stm(Segment::S0, transition_mode(mode, 0)),
            ),
            (
                LegacyChangePatternBank::pattern_stm(PatternBank::B1, mode),
                op::LegacyChangePatternBank::gain_stm(Segment::S1, transition_mode(mode, 0)),
            ),
        ] {
            let geometry = Geometry::new(vec![Autd3::default()]);
            let mut expected = [0u8; 16];
            let written =
                crate::legacy::op::LegacyOperation::pack(&mut op, &geometry[0], &mut expected[..])
                    .unwrap();
            assert_eq!(&frames(cmd)[..written], &expected[..written]);
        }
    }
}