PatternStm

PatternStm は, ハードウェアタイマにより任意の音場 (各振動子の位相・振幅) を切り替える STM 機能を提供する. FociStm と異なり, 任意の Pattern を扱えるが, 転送フレーム数が多い (=レイテンシが大きい).

API

Rust

PatternStm::new(freq, &patterns, intensities, option);

Python

PatternStm(freq, patterns, intensities, option)

C#

new PatternStm(freq, patterns, intensities, option);

引数	型	説明
freq	impl Into<StmConfig>	再生レート (Freq / Duration / SamplingConfig)
phases	&[Vec<Vec<Phase>>]	各サンプルの位相の列 (2 サンプル以上)
intensities	impl Into<StmIntensity>	全サンプルの振幅 (一様値 / 全 index 共通バッファ / index 毎のバッファ列)
option	PatternStmOption	転送モード・ループ・遷移などのオプション

freq に Freq / Duration を渡すと「全サンプルを 1 周する周波数/周期」を表す. サンプリング周波数を指定することもできる. Duration がサンプル数で割り切れない場合はエラーになる (丸めたいときは Nearest を使う).

intensities には以下の3つの型が渡せる.

• Intensity : 全デバイス・全振動子・全indexで同じ値を使う場合
• &[Vec<Intensity>] : 振動子ごとには異なるが全indexで共通の値を使う場合
• &[Vec<Vec<Intensity>>] : 全indexごとに異なる値を使う場合

PatternStmOption

Rust

PatternStmOption {
    bank,
    mode,
    loop_behavior,
    transition_mode,
    ..Default::default()
}

Python

PatternStmOption(
    bank,
    mode,
    loop_behavior,
    transition_mode,
)

C#

new PatternStmOption
{
    Bank = bank,
    Mode = mode,
    LoopBehavior = loopBehavior,
    TransitionMode = transitionMode,
}

フィールド	型	デフォルト	説明
bank	PatternBank	PatternBank::B0	書き込み先・再生対象のバンク
mode	PatternStmMode	PatternStmMode::PhaseIntensityFull	転送形式
loop_behavior	LoopBehavior	LoopBehavior::Infinite	ループ回数
transition_mode	TransitionMode	TransitionMode::Immediate	バンク切替時の遷移タイミング

loop_behavior と transition_mode の挙動は再生制御 を参照.

PatternStmMode

各 Pattern の転送形式を選ぶ. 位相のみ・低分解能の形式は転送フレーム数を減らせる.

モード	内容
PhaseIntensityFull	位相・振幅をそのまま転送 (デフォルト)
PhaseFull	位相と一様な振幅を転送
PhaseHalf	4 bit に圧縮した位相と一様な振幅を転送

等価な低レベルコマンド

PatternStm は内部で WritePatternBuffer (各 index) + ConfigPattern + ChangePatternBank の 3 つへ展開される. 以下は PatternStm::new(freq, &phases, intensities, option) と等価な組み合わせである.

PatternStmMode が PhaseFull / PhaseHalf のときは, WritePatternBuffer の代わりに WritePatternCompressed が使われる (このとき intensities は Intensity (一様値) しか渡せず, それ以外はエラーになる).

Rust

for (index, phases) in patterns.iter().enumerate() {
    WritePatternBuffer::new(option.bank, index, phases, intensities);
}
ConfigPattern {
    bank: option.bank,
    config: StmConfig::new(freq).into_sampling_config(patterns.len()),
    size: patterns.len(),
    loop_behavior: option.loop_behavior,
};
ChangePatternBank {
    bank: option.bank,
    transition_mode: option.transition_mode,
};

Python

for index, phases in enumerate(patterns):
    WritePatternBuffer(
        bank=option.bank,
        index=index,
        phases=phases,
        intensities=intensities,
    )
ConfigPattern(
    bank=option.bank,
    config=StmConfig(freq).into_sampling_config(len(patterns)),
    size=len(patterns),
    loop_behavior=option.loop_behavior,
)
ChangePatternBank(
    bank=option.bank,
    transition_mode=option.transition_mode,
)

C#

for (var index = 0; index < patterns.Length; index++)
{
    new WritePatternBuffer(
        bank: option.Bank,
        index: (ushort)index,
        phases: patterns[index],
        intensities: intensities
    );
}
new ConfigPattern(
    bank: option.Bank,
    config: new StmConfig(freq).IntoSamplingConfig(patterns.Length),
    size: (uint)patterns.Length,
    loopBehavior: option.LoopBehavior
);
new ChangePatternBank(
    bank: option.Bank,
    transitionMode: option.TransitionMode
);

Example

Rust

use autd3_rs::commands::{PatternStm, PatternStmMode, PatternStmOption};
use autd3_rs::geometry::{Autd3, Geometry, offset};
use autd3_rs::units::{Hz, m, mm, s};
use autd3_rs::value::{Intensity, LoopBehavior, PatternBank, 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 center = geometry.center() + offset(0.0 * mm, 0.0 * mm, 150.0 * mm);
let wavelength = wavelength(340.0 * m / s);
let patterns = (0..200)
    .map(|i| {
        let theta = 2.0 * std::f32::consts::PI * i as f32 / 200.0;
        let target =
            center + offset(30.0 * theta.cos() * mm, 30.0 * theta.sin() * mm, 0.0 * mm);
        let mut buffer = geometry.phase_buffer();
        focus(
            &geometry,
            target,
            wavelength,
            &mut buffer,
        );
        buffer
    })
    .collect::<Vec<_>>();
let mut builder = client.datagram_builder();
builder.push(PatternStm::new(
    1.0 * Hz,
    &patterns,
    Intensity::MAX,
    PatternStmOption {
        bank: PatternBank::B0,
        mode: PatternStmMode::PhaseIntensityFull,
        loop_behavior: LoopBehavior::Infinite,
        transition_mode: TransitionMode::Immediate,
        ..Default::default()
    },
));
let frames = builder.build()?;
for frame in &frames {
    client.send_checked(frame).await?;
}

client.close().await?;

Python

import asyncio
import math

import numpy as np

from autd3 import Client, ClientConfig
from autd3.commands import PatternStm, PatternStmMode, PatternStmOption
from autd3.geometry import Autd3, Geometry
from autd3.units import Hz, m, s
from autd3.value import Intensity, LoopBehavior, PatternBank, TransitionMode
from autd3_link_nop import Nop
from autd3_pattern import focus
from autd3_pattern import wavelength as calc_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:
        center = geometry.center() + np.array([0.0, 0.0, 150.0])
        wavelength = calc_wavelength(340 * m / s)
        patterns = []
        for i in range(200):
            theta = 2.0 * math.pi * i / 200
            target = center + np.array([30.0 * math.cos(theta), 30.0 * math.sin(theta), 0.0])
            buffer = geometry.phase_buffer()
            focus(
                geometry,
                target,
                wavelength,
                buffer,
            )
            patterns.append(buffer)

        builder = client.datagram_builder()
        builder.push(
            PatternStm(
                1.0 * Hz,
                patterns,
                Intensity.MAX,
                PatternStmOption(
                    bank=PatternBank.B0,
                    mode=PatternStmMode.PhaseIntensityFull,
                    loop_behavior=LoopBehavior.Infinite,
                    transition_mode=TransitionMode.Immediate,
                ),
            )
        )
        frames = builder.build()
        for frame in frames:
            await client.send_checked(frame)


asyncio.run(main())

C#

using System;
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 center = geometry.Center + new Vector3(0.0f, 0.0f, 150.0f);
var wavelength = Pattern.Wavelength(340.0f * m / s);
var patterns = new PhaseBuffer[200];
for (var i = 0; i < 200; i++)
{
    var theta = 2.0f * MathF.PI * i / 200.0f;
    var target = center + new Vector3(30.0f * MathF.Cos(theta), 30.0f * MathF.Sin(theta), 0.0f);
    var buffer = geometry.PhaseBuffer();
    Pattern.Focus(
        geometry,
        target,
        wavelength,
        buffer
    );
    patterns[i] = buffer;
}

var builder = client.DatagramBuilder();
builder.Push(new PatternStm(
    1.0f * Hz,
    patterns,
    Intensity.Max,
    new PatternStmOption
    {
        Bank = PatternBank.B0,
        Mode = PatternStmMode.PhaseIntensityFull,
        LoopBehavior = LoopBehavior.Infinite,
        TransitionMode = TransitionMode.Immediate,
    }
));
var frames = builder.Build();
foreach (var frame in frames)
{
    await client.SendCheckedAsync(frame);
}