use std::{marker::PhantomData, time::Duration};
use autd3_core::{
error::AUTDInternalError,
geometry::{Geometry, Transducer},
link::Link,
RxDatagram, TxDatagram,
};
pub struct Bundle<T: Transducer, L1: Link<T>, L2: Link<T>> {
main_link: L1,
sub_link: L2,
_t: PhantomData<T>,
}
impl<T: Transducer, L1: Link<T>, L2: Link<T>> Bundle<T, L1, L2> {
pub fn new(main_link: L1, sub_link: L2) -> Self {
Self {
main_link,
sub_link,
_t: PhantomData,
}
}
}
impl<T: Transducer, L1: Link<T>, L2: Link<T>> Link<T> for Bundle<T, L1, L2> {
fn open(&mut self, geometry: &Geometry<T>) -> Result<(), AUTDInternalError> {
if self.is_open() {
return Ok(());
}
self.main_link.open(geometry)?;
self.sub_link.open(geometry)?;
Ok(())
}
fn close(&mut self) -> Result<(), AUTDInternalError> {
if !self.is_open() {
return Ok(());
}
self.main_link.close()?;
self.sub_link.close()?;
Ok(())
}
fn send(&mut self, tx: &TxDatagram) -> Result<bool, AUTDInternalError> {
if !self.is_open() {
return Ok(false);
}
self.main_link.send(tx)?;
self.sub_link.send(tx)?;
Ok(true)
}
fn receive(&mut self, rx: &mut RxDatagram) -> Result<bool, AUTDInternalError> {
if !self.is_open() {
return Ok(false);
}
self.main_link.receive(rx)?;
Ok(true)
}
fn is_open(&self) -> bool {
self.main_link.is_open() && self.sub_link.is_open()
}
fn timeout(&self) -> Duration {
self.main_link.timeout().max(self.sub_link.timeout())
}
}