Modulation

Modulation は, AM 波形データ (&[u8]) をデバイスへ送るコマンド.

API

Rust

Modulation::new(config, &data);

Modulation::with_bank(bank, config, &data);

Modulation {
    bank,
    config,
    data: &data,
    loop_behavior,
    transition_mode,
};

Modulation::new は書き込み先バンクを ModulationBank::B0, ループを Infinite, 遷移を Immediate とする. 別バンクへ書く場合は Modulation::with_bank(bank, config, data) を使う. ループ回数や遷移タイミングも変えたい場合は, フィールドを直接指定して構築する.

Python

Modulation(config, data)

Modulation(config, data, bank=bank)

Modulation(
    bank=bank,
    config=config,
    data=data,
    loop_behavior=loop_behavior,
    transition_mode=transition_mode,
)

Modulation は書き込み先バンクをデフォルトで ModulationBank.B0, ループを Infinite, 遷移を Immediate とする. 別バンクへ書く場合は Modulation(config, data, bank=bank) を使う. ループ回数や遷移タイミングも変えたい場合は, loop_behavior / transition_mode 引数を渡す.

C#

new Modulation(config, data);

new Modulation(bank, config, data);

new Modulation(
    bank: bank,
    config: config,
    data: data,
    loopBehavior: loopBehavior,
    transitionMode: transitionMode
);

new Modulation(config, data) は書き込み先バンクを ModulationBank.B0, ループを Infinite, 遷移を Immediate とする. 別バンクへ書く場合は new Modulation(bank, config, data) を使う. ループ回数や遷移タイミングも変えたい場合は, loopBehavior / transitionMode 引数を渡す.

フィールド	型	デフォルト	説明
bank	ModulationBank	ModulationBank::B0	書き込み先・再生対象のバンク
config	SamplingConfig	—	再生サンプリング周波数
data	&[u8]	—	AM 波形サンプル列 (2 サンプル以上)
loop_behavior	LoopBehavior	LoopBehavior::Infinite	再生ループ回数
transition_mode	TransitionMode	TransitionMode::Immediate	バンク切替時の遷移挙動

config は SamplingConfig で指定する. data は modulation_buffer() で確保したバッファへ書き込む. loop_behavior / transition_mode の挙動は ActivateModulationBank を参照.

modulation の計算には幾つかのヘルパ関数が用意されている.

等価な低レベルコマンド

Modulation は WriteModulationBuffer + ConfigModulation + ActivateModulationBank の 3 つと等価である. 以下は Modulation { bank, config, data, loop_behavior, transition_mode } と等価な組み合わせである

Rust

for (i, chunk) in data.chunks(WriteModulationBuffer::MAX_LEN).enumerate() {
    WriteModulationBuffer {
        bank,
        offset: i * WriteModulationBuffer::MAX_LEN,
        data: chunk,
    };
}
ConfigModulation {
    bank,
    config,
    size: data.len(),
    loop_behavior,
};
ActivateModulationBank {
    bank,
    transition_mode,
};

Python

samples = data.to_numpy()
for offset in range(0, len(samples), WriteModulationBuffer.MAX_LEN):
    WriteModulationBuffer(
        bank=bank,
        offset=offset,
        data=ModulationBuffer.from_array(samples[offset : offset + WriteModulationBuffer.MAX_LEN]),
    )
ConfigModulation(
    bank=bank,
    config=config,
    size=len(data),
    loop_behavior=loop_behavior,
)
ActivateModulationBank(
    bank=bank,
    transition_mode=transition_mode,
)

C#

var samples = data.ToArray();
for (var offset = 0; offset < samples.Length; offset += WriteModulationBuffer.MaxLen)
{
    using var chunk = ModulationBuffer.FromBytes(samples[offset..Math.Min(offset + WriteModulationBuffer.MaxLen, samples.Length)]);
    new WriteModulationBuffer(
        bank: bank,
        offset: (uint)offset,
        data: chunk
    );
}
new ConfigModulation(
    bank: bank,
    config: config,
    size: (uint)data.Length,
    loopBehavior: loopBehavior
);
new ActivateModulationBank(
    bank: bank,
    transitionMode: transitionMode
);

Example

Rust

use autd3_rs::commands::{Clear, Modulation, Synchronize};
use autd3_rs::geometry::{Autd3, Geometry};
use autd3_rs::units::Hz;
use autd3_rs::value::SamplingConfig;
use autd3_rs::Client;
use autd3_rs::udp::TransportOption;
use autd3_rs_modulation::{SineOption, modulation_buffer, sine};

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 config = SamplingConfig::FREQ_4K;
let mut data = modulation_buffer();
sine(150 * Hz, &SineOption::default(), config, &mut data)?;

client.send(Modulation::new(config, &data)).await?;

Python

import asyncio

from autd3 import Client, TransportOption
from autd3.commands import Clear, Modulation, Synchronize
from autd3.geometry import Autd3, Geometry
from autd3.units import Hz
from autd3.value import SamplingConfig
from autd3_modulation import SineOption, modulation_buffer, sine


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

        config = SamplingConfig.FREQ_4K
        data = modulation_buffer()
        sine(150 * Hz, SineOption(), config, data)

        await client.send(Modulation(config, data))


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 config = SamplingConfig.Freq4k;
var data = Modulation.ModulationBuffer();
Modulation.Sine(150 * Hz, new SineOption(), config, data);

await client.SendAsync(new Modulation(config, data));