WritePatternBuffer

WritePatternBuffer は, 指定したバンク・インデックスへ Pattern (各振動子の Emission) を書き込む低レベルコマンド.

API

Rust

WritePatternBuffer {
    bank,
    index,
    emissions,
};

Python

WritePatternBuffer(
    bank=bank,
    index=index,
    emissions=emissions,
)

C#

new WritePatternBuffer(
    bank: bank,
    index: index,
    emissions: emissions
);

フィールド	型	説明
bank	PatternBank	書き込み先バンク
index	u16	バンク内の書き込み先インデックス
emissions	&[Vec<Emission>]	デバイスごとの emission パターン

Example

複数の低レベルコマンドは 1 つの datagram にまとめて送る. 以下は WritePatternBuffer → ConfigPattern → ChangePatternBank 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::{ChangePatternBank, ConfigPattern, WritePatternBuffer};
use autd3_rs::geometry::{Autd3, Geometry, offset};
use autd3_rs::units::{m, mm, s};
use autd3_rs::value::{LoopBehavior, PatternBank, SamplingConfig, TransitionMode};
use autd3_rs::{Client, ClientConfig};
use autd3_rs_link_nop::Nop;
use autd3_rs_pattern::{FocusOption, focus, wavelength};

let geometry = Geometry::new(vec![Autd3::default()]);
let client = Client::open(&geometry, Nop, ClientConfig::default()).await?;

let mut emissions = geometry.pattern_buffer();
focus(
    &geometry,
    geometry.center() + offset(0.0 * mm, 0.0 * mm, 150.0 * mm),
    wavelength(340.0 * m / s),
    &FocusOption::default(),
    &mut emissions,
);

let bank = PatternBank::B0;

let mut builder = client.datagram_builder();
builder.push(WritePatternBuffer {
    bank,
    index: 0,
    emissions: &emissions,
});
builder.push(ConfigPattern {
    bank,
    config: SamplingConfig::new(NonZeroU16::MAX),
    size: 1,
    loop_behavior: LoopBehavior::Infinite,
});
builder.push(ChangePatternBank {
    bank,
    transition_mode: TransitionMode::Immediate,
});
let frames = builder.build()?;
for frame in &frames {
    client.send_checked(frame).await?;
}

client.close().await?;

Python

import asyncio

import numpy as np

from autd3 import Client, ClientConfig
from autd3.commands import ChangePatternBank, ConfigPattern, WritePatternBuffer
from autd3.geometry import Autd3, Geometry
from autd3.units import m, s
from autd3.value import LoopBehavior, PatternBank, SamplingConfig, TransitionMode
from autd3_link_nop import Nop
from autd3_pattern import FocusOption, focus, wavelength


async def main() -> None:
    geometry = Geometry([Autd3([0.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0])])
    client = await Client.open(geometry, Nop(), ClientConfig())

    emissions = geometry.pattern_buffer()
    focus(
        geometry,
        geometry.center() + np.array([0.0, 0.0, 150.0]),
        wavelength(340 * m / s),
        FocusOption(),
        emissions,
    )

    bank = PatternBank.B0

    builder = client.datagram_builder()
    builder.push(
        WritePatternBuffer(
            bank=bank,
            index=0,
            emissions=emissions,
        )
    )
    builder.push(
        ConfigPattern(
            bank=bank,
            config=SamplingConfig(0xFFFF),
            size=1,
            loop_behavior=LoopBehavior.Infinite,
        )
    )
    builder.push(
        ChangePatternBank(
            bank=bank,
            transition_mode=TransitionMode.Immediate,
        )
    )
    frames = builder.build()
    for frame in frames:
        await client.send_checked(frame)

    await client.close()


asyncio.run(main())

C#

using System.Numerics;
using System.Threading.Tasks;
using AUTD3;
using AUTD3.Link;
using Nop = AUTD3.Link.Nop;
using static AUTD3.Units;

var geometry = new Geometry(new[] { new Autd3(Vector3.Zero) });
var client = await Client.OpenAsync(geometry, new Nop(), new ClientConfig());

var emissions = geometry.PatternBuffer();
Pattern.Focus(
    geometry,
    geometry.Center + new Vector3(0.0f, 0.0f, 150.0f),
    Pattern.Wavelength(340.0f * m / s),
    new FocusOption(),
    emissions
);

var bank = PatternBank.B0;

var builder = client.DatagramBuilder();
builder.Push(new WritePatternBuffer(
    bank: bank,
    index: 0,
    emissions: emissions
));
builder.Push(new ConfigPattern(
    bank: bank,
    config: new SamplingConfig(ushort.MaxValue),
    size: 1,
    loopBehavior: LoopBehavior.Infinite
));
builder.Push(new ChangePatternBank(
    bank: bank,
    transitionMode: TransitionMode.Immediate
));
var frames = builder.Build();
foreach (var frame in frames)
{
    await client.SendCheckedAsync(frame);
}

await client.CloseAsync();