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//! # sac-base (Signal And Control) //! sac-base is the base crate of its two child crates sac-control and sac-signal. //! This crate is still under heavy construction and not finished. //! //! --- //! //! # Idea //! The sac-* crates help to implement signal processing and control systems in a network based //! approach. Similar to Simulink as example. //! The project is designed for a primary usage on embedded systems and is therefore a [no_std] //! crate. A generic solution such as the used network based approach will never be as fast as a //! custom system implementation for a specific problem. But it will allow to directly and quickly //! implement and change systems in code instead of designing it Matlab and exporting it to C. //! Generation the network and building the topology is relatively expensive. Therefore the crate //! does all the allocations and setup before the normal operation starts. //! This base crate is designed in a way that allows the Signal and the Control crate to easily //! extend it, and allow the operations to be interchangeable between each other. //! Both the sac-control and the sac-signal are under construction and are not available yet. //! //! ## Base crate //! The base crate provides the following features: //! - Network description. //! - Base node implementation which the operations are based on. //! - Simple math operations such as adding, subtraction. Generally operations that will be used in both the Signal and Control crates. //! - Generic elements such as buffers. //! //! ## no_std //! The library is built with no_std. Therefore it can be used on embedded systems and while not tested, probably wasm aswell. //! //! # Example //! The following example, can be build by the code given below: //! //! ```rust //! // //! // +----+ //! // | | //! // +--+ In +----+ //! // | | | +-----+ //! // +----+ +---+ | //! // | Add +----+-------------+ //! // +----+ +---+ | | | //! // | | | +-----+ | | +-----+ //! // +--+ In +----+ | +-----+ | //! // | | | | Mul +------+---+ //! // +----+ | +-----+ | | //! // | +-----+ | +-----+ | //! // +----+ +--+ | | | //! // | | | Add | | | //! // +--+ In +----------------------+ +----+ | //! // | | | | | //! // +----+ +-----+ | | //! // | +-----+ | //! // | +-----+ | //! // | | | | //! // +--------------+ z^1 +--------------+ //! // | | //! // +---- + //! // //! //! use sac_base::network::network::Network; //! use sac_base::operations::math::add::Add; //! use sac_base::operations::miscellaneous::buffer::Buffer; //! use sac_base::operations::math::multiply::Multiply; //! // Generate the network //! let mut network = Network::new(); //! // Generate some operations //! let add1 = network.add_operation(Add::new()); //! let mul1 = network.add_operation(Multiply::new()); //! let add2 = network.add_operation(Add::new()); //! // Add some inputs //! let in1 = network.add_operation(Buffer::new()); //! let in2 = network.add_operation(Buffer::new()); //! let in3 = network.add_operation(Buffer::new()); //! // Connect the operations with each other //! network.add_connection(&in1, &add1).unwrap(); //! network.add_connection(&in2, &add1).unwrap(); //! network.add_connection(&add1, &add2).unwrap(); //! network.add_connection(&in3, &add2).unwrap(); //! network.add_connection(&add1, &mul1).unwrap(); //! network.add_connection(&add2, &mul1).unwrap(); //! // Insert a closed loop (Positive feedback loop) //! network.close_loop(&mul1, &add2); //! // Generate the network //! network.build().unwrap(); //! // Main loop operation //! // Update the inputs //! network.set_input_sample(&in1, 5.0); //! network.set_input_sample(&in2, 5.0); //! network.set_input_sample(&in3, 5.0); //! // Iterate over the network //! network.process(); //! let res = network.get_output(&mul1); //! // Update the inputs //! network.set_input_sample(&in1, 10.0); //! network.set_input_sample(&in2, 10.0); //! network.set_input_sample(&in3, 10.0); //! // Process twice to let the closed loop propagate //! network.process(); //! let res = network.get_output(&mul1); //! ``` //! //! # Extending the functionality //! It is likely that the library does not implement all the operations that will be needed in your application. //! Implementing a new operation is simple and can be added outside of the library. //! //! As example: //! Lets say you want to add a new operation that drops every third element. //! ```rust //! // we need a possibility to count. So we need to add a count variable to the struct which will //! // be boxed and moved into the node //! use sac_base::network::node::Node; //! use std::any::Any; //! use sac_base::network::network::Network; //! pub struct Third { //! count: usize, //! } //! //! // Now define the functionality //! impl Third { //! //! pub fn new<T>() -> Node<T> //! where T: Copy + Default //! { //! // Generate the storage which is the defined struct in a boxed pointer which will be //! // moved into the node //! let storage = Box::new(Third{ //! count: 0, //! }) as Box<dyn Any>; //! Node::new(storage, |data_input: (Vec<&[T]>, usize), data_buffer: &mut Box<dyn Any>, output: &mut Vec<T>| { //! // Get the storage back so we can access the count variable //! let storage: &mut Third = data_buffer.downcast_mut::<Third>().unwrap(); //! let (inputs, max_len) = data_input; //! // Start iterating over the inputs. Here we only care about one input, //! // so we only take 1. //! inputs.into_iter().take(1).into_iter().for_each(|data| { //! // Iterate over all the values of the input slice. //! data.into_iter().take(max_len).into_iter().for_each(|v| { //! // Modulo the count //! storage.count = storage.count % 3; //! //! // Now we are ready to implement the functionality. //! // The content of the vector will be passed into the next nodes as slice. //! // We are only working with one sample, so we can just put it into the //! // 0 position. //! output.clear(); //! if storage.count == 2 { //! // Write default in to the vector if its the third sample. //! output.insert(0, T::default()); //! } else { //! // Otherwise just use the normal value //! output.insert(0, *v); //! } //! //! // Increment the count and modulo it. //! storage.count = storage.count + 1; //! }) //! }) //! }) //! } //! } //! //! let mut network: Network<f32> = Network::new(); //! //! // Insert the new node into the network //! let third = network.add_operation(Third::new()); //! //! network.build(); //! //! network.set_input_slice(&third, &[1.0, 2.0, 3.0][..]); //! //! network.process(); //! let res = network.get_output(&third).unwrap(); //! //! assert_eq!(res, [1.0, 2.0, 3.0]); //! ``` //! //! # Outlook //! - Base crate: //! - Operations: //! - To chunk and from chuck operations //! - Far future: //! - Static operation //! - Signal processing: //! - Checkout https://gitlab.com/signal-and-control/sac-signal //! - Control: //! - Checkout https://gitlab.com/signal-and-control/sac-control #![no_std] #[cfg(test)] #[macro_use] extern crate std; #[cfg(test)] extern crate assert_approx_eq; pub mod operations; pub mod network; pub mod helper; extern crate alloc; extern crate graphlib; extern crate num;