WritePatternBuffer

WritePatternBuffer は, 指定したバンク・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. 通信上は位相列・振幅列の順で送られ, デバイスの CPU が FPGA のメモリへ振動子毎に並べ直して書き込む.

API

Rust

WritePatternBuffer::new(bank, index, phases, intensities);

Python

WritePatternBuffer(
    bank=bank,
    index=index,
    phases=phases,
    intensities=intensities,
)

C#

new WritePatternBuffer(
    bank: bank,
    index: index,
    phases: phases,
    intensities: intensities
);

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
phases	&[Vec<Phase>]	デバイスごとの位相
intensities	PatternIntensity	振幅 (Intensity の一様値, または &[Vec<Intensity>] のデバイスごとのバッファ)

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::{Intensity, LoopBehavior, PatternBank, SamplingConfig, TransitionMode};
use autd3_rs::{Client, ClientConfig};
use autd3_rs_link_nop::Nop;
use autd3_rs_pattern::{focus, wavelength};

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

let mut builder = client.datagram_builder();
builder.push(WritePatternBuffer::new(bank, 0, &phases, Intensity::MAX));
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 Intensity, LoopBehavior, PatternBank, SamplingConfig, TransitionMode
from autd3_link_nop import Nop
from autd3_pattern import focus, wavelength


async def main() -> None:
    geometry = Geometry([Autd3([0.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0])])
    async with await Client.open(geometry, Nop(), ClientConfig()) as client:
        phases = geometry.phase_buffer()
        focus(
            geometry,
            geometry.center() + np.array([0.0, 0.0, 150.0]),
            wavelength(340 * m / s),
            phases,
        )

        bank = PatternBank.B0

        builder = client.datagram_builder()
        builder.push(
            WritePatternBuffer(
                bank=bank,
                index=0,
                phases=phases,
                intensities=Intensity.MAX,
            )
        )
        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)


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) });
await using var client = await Client.OpenAsync(geometry, new Nop(), new ClientConfig());

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

var bank = PatternBank.B0;

var builder = client.DatagramBuilder();
builder.Push(new WritePatternBuffer(
    bank: bank,
    index: 0,
    phases: phases,
    intensities: Intensity.Max
));
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);
}