Lightweight Mode

The Rust and Dart libraries support Lightweight mode.

NOTE: The Dart library only supports Lightweight mode.

Lightweight mode is a mode to reduce transmission data when using RemoteTwinCAT, RemoteSOEM, or Simulator links.

NOTE: This feature is not available in the C++, C#, and Python libraries. However, since Lightweight mode communication uses Protocol Buffers, it is possible to use it from each language by sending data according to the proto definition.

Setup

To use the lightweight mode client, you need to enable the lightweight feature of the autd3-protobuf crate.

cargo add autd3-protobuf --features "lightweight"

On the server side, you can enable Lightweight mode with the AUTD3 Server options.

Below is a sample code for the client side in Rust using Lightweight mode.

Basically, it is the same as the normal API, but note the following points:

• When using GainSTM, you need to use autd3_protobuf::lightweight::IntoLightweightGain::into_lightweight()
• When using group_send, you need to use autd3_protobuf::lightweight::Datagram::into_lightweight()
• Some data is not supported

use autd3::prelude::*;

use autd3_protobuf::lightweight::Controller;

#[tokio::main]
async fn main() -> Result<(), Box<dyn std::error::Error>> {
    let mut autd = Controller::open([AUTD3::default()], "127.0.0.1:8080".parse()?).await?;

    println!("======== AUTD3 firmware information ========");
    autd.firmware_version().await?.iter().for_each(|firm_info| {
        println!("{}", firm_info);
    });
    println!("============================================");

    let center = autd.center() + Vector3::new(0., 0., 150.0 * mm);

    let g = Focus {
        pos: center,
        option: Default::default(),
    };
    let m = Sine {
        freq: 150. * Hz,
        option: Default::default(),
    };
    autd.send((m, g)).await?;

{
    // GainSTM requires `autd3_protobuf::lightweight::IntoLightweightGain::into_lightweight()`
    use autd3_protobuf::lightweight::IntoLightweightGain;
    let stm = GainSTM {
        gains: vec![
            Null {}.into_lightweight(),
            Focus {
                pos: center,
                option: Default::default(),
            }
            .into_lightweight(),
        ],
        config: 1.0 * Hz,
        option: Default::default(),
    };
    autd.send(stm).await?;
}

{
    // group_send requires `autd3_protobuf::lightweight::Datagram::into_lightweight()`
    use autd3_protobuf::lightweight::Datagram;
    autd.group_send(
        |dev| Some(dev.idx()),
        std::collections::HashMap::from([
            (0, Null {}.into_lightweight()),
            (
                1,
                (
                    Sine {
                        freq: 150. * Hz,
                        option: Default::default(),
                    },
                    Focus {
                        pos: center,
                        option: Default::default(),
                    },
                )
                    .into_lightweight(),
            ),
        ]),
    )
    .await?;
}

    println!("Press enter to quit...");
    let mut _s = String::new();
    std::io::stdin().read_line(&mut _s)?;

    autd.close().await?;

    Ok(())
}

For usage examples from Dart, refer to the autd3-app repository.