WritePatternBuffer

WritePatternBuffer は, 指定したバンクの start_index から連続するインデックスへ Pattern (各振動子の位相と振幅) を書き込む低レベルコマンド. 1 フレームに書ける Pattern は WritePatternBuffer::MAX_LEN (2). それより多く書くときは分けて送る.

API

Rust

WritePatternBuffer::new(bank, start_index, patterns, intensities);

Python

WritePatternBuffer(
    bank=bank,
    start_index=start_index,
    patterns=patterns,
    intensities=intensities,
)

C#

new WritePatternBuffer(
    bank: bank,
    startIndex: startIndex,
    patterns: patterns,
    intensities: intensities
);

フィールド	型	説明
bank	PatternBank	書き込み先バンク
start_index	usize	バンク内の書き込み先の先頭インデックス
patterns	&[Vec<Vec<Phase>>]	インデックスごとの, デバイスごとの位相
intensities	StmIntensity	振幅 (PatternStm と同じ.)

Example

以下は WritePatternBuffer → ConfigPattern → ActivatePatternBank で 1 つの Pattern を再生する例 (高レベルの Pattern と等価).

Rust

use core::num::NonZeroU16;

use autd3_rs::commands::{
    ActivatePatternBank, Clear, ConfigPattern, Synchronize, WritePatternBuffer,
};
use autd3_rs::geometry::{Autd3, Geometry, offset};
use autd3_rs::units::{m, mm, s};
use autd3_rs::value::{Intensity, LoopBehavior, PatternBank, SamplingConfig, TransitionMode};
use autd3_rs::Client;
use autd3_rs::udp::TransportOption;
use autd3_rs_pattern::{focus, wavelength};

let geometry = Geometry::new(vec![Autd3::default()]);
let option = TransportOption::default();
let mut client = Client::open(&geometry, &option).await?;
client.send(Clear).await?;
client.send(Synchronize).await?;

let mut phases = geometry.phase_buffer();
focus(
    &geometry,
    geometry.center() + offset(0.0 * mm, 0.0 * mm, 150.0 * mm),
    wavelength(340.0 * m / s),
    &mut phases,
);

let bank = PatternBank::B0;

client
    .send(WritePatternBuffer::new(bank, 0, &[phases], Intensity::MAX))
    .await?;
client.send(ConfigPattern {
    bank,
    config: SamplingConfig::new(NonZeroU16::MAX),
    size: 1,
    loop_behavior: LoopBehavior::Infinite,
}).await?;
client.send(ActivatePatternBank {
    bank,
    transition_mode: TransitionMode::Immediate,
}).await?;

Python

import asyncio

from autd3 import Client, TransportOption
from autd3.commands import ActivatePatternBank, Clear, ConfigPattern, Synchronize, WritePatternBuffer
from autd3.geometry import Autd3, Geometry, offset
from autd3.units import m, mm, s
from autd3.value import Intensity, LoopBehavior, PatternBank, SamplingConfig, TransitionMode
from autd3_pattern import focus, wavelength


async def main() -> None:
    geometry = Geometry([Autd3()])
    with await Client.open(geometry, TransportOption()) as client:
        await client.send(Clear())
        await client.send(Synchronize())

        phases = geometry.phase_buffer()
        focus(
            geometry,
            geometry.center() + offset(0.0 * mm, 0.0 * mm, 150.0 * mm),
            wavelength(340 * m / s),
            phases,
        )

        bank = PatternBank.B0

        await client.send(
            WritePatternBuffer(
                bank=bank,
                start_index=0,
                patterns=[phases],
                intensities=Intensity.MAX,
            )
        )
        await client.send(
            ConfigPattern(
                bank=bank,
                config=SamplingConfig(0xFFFF),
                size=1,
                loop_behavior=LoopBehavior.Infinite,
            )
        )
        await client.send(
            ActivatePatternBank(
                bank=bank,
                transition_mode=TransitionMode.Immediate,
            )
        )


asyncio.run(main())

C#

using System.Threading.Tasks;
using AUTD3;
using static AUTD3.Units;

var geometry = new Geometry(new[] { new Autd3() });
using var client = await Client.OpenAsync(geometry, new TransportOption());
await client.SendAsync(new Clear());
await client.SendAsync(new Synchronize());

var phases = geometry.PhaseBuffer();
Pattern.Focus(
    geometry,
    geometry.Center + Offset(0.0f * mm, 0.0f * mm, 150.0f * mm),
    Pattern.Wavelength(340.0f * m / s),
    phases
);

var bank = PatternBank.B0;

await client.SendAsync(new WritePatternBuffer(
    bank: bank,
    startIndex: 0,
    patterns: new[] { phases },
    intensities: Intensity.Max
));
await client.SendAsync(new ConfigPattern(
    bank: bank,
    config: new SamplingConfig(ushort.MaxValue),
    size: 1,
    loopBehavior: LoopBehavior.Infinite
));
await client.SendAsync(new ActivatePatternBank(
    bank: bank,
    transitionMode: TransitionMode.Immediate
));