WriteFociBuffer

WriteFociBuffer is a low-level command that writes a focal point sequence for Foci STM into a bank.

API

Rust

WriteFociBuffer {
    bank,
    index_offset,
    points,
};

Python

WriteFociBuffer(
    bank=bank,
    index_offset=index_offset,
    points=points,
)

C#

new WriteFociBuffer(
    bank: bank,
    indexOffset: indexOffset,
    points: points
);

Field	Type	Description
bank	PatternBank	Destination bank
index_offset	usize	Start index for writing within the bank
points	&[ControlPoints<N>]	Sequence of focal point samples

ControlPoints<N> is one sample holding N focal points (ControlPoint) and an amplitude. For details see FociStm.

Example

An example of playing a focal point sequence as Foci STM via WriteFociBuffer → ConfigFociStm → ChangePatternBank (equivalent to the high-level FociStm).

Rust

use autd3_rs::commands::{ChangePatternBank, ConfigFociStm, StmConfig, WriteFociBuffer, circle};
use autd3_rs::geometry::{Autd3, Geometry, Vector3, 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;

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 mut points = Vec::new();
circle(
    center,
    30.0 * mm,
    200,
    Vector3::z_axis(),
    Intensity::MAX,
    &mut points,
);

let bank = PatternBank::B0;

let mut builder = client.datagram_builder();
builder.push(WriteFociBuffer {
    bank,
    index_offset: 0,
    points: &points,
});
builder.push(ConfigFociStm {
    bank,
    config: StmConfig::new(1.0 * Hz).into_sampling_config(points.len()),
    size: points.len(),
    num_foci: 1,
    sound_speed: 340.0 * m / s,
    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, ConfigFociStm, StmConfig, WriteFociBuffer, circle
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


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())

    center = geometry.center() + np.array([0.0, 0.0, 150.0])
    points = []
    circle(center, 30.0, 200, [0.0, 0.0, 1.0], Intensity.MAX, points)

    bank = PatternBank.B0

    builder = client.datagram_builder()
    builder.push(
        WriteFociBuffer(
            bank=bank,
            index_offset=0,
            points=points,
        )
    )
    builder.push(
        ConfigFociStm(
            bank=bank,
            config=StmConfig(1.0 * Hz).into_sampling_config(len(points)),
            size=len(points),
            num_foci=1,
            sound_speed=340.0 * m / s,
            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.Collections.Generic;
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 center = geometry.Center + new Vector3(0.0f, 0.0f, 150.0f);
var dst = new List<ControlPoints>();
Stm.Circle(
    center,
    30.0f * mm,
    200,
    Vector3.UnitZ,
    Intensity.Max,
    dst
);
var points = dst.ToArray();

var bank = PatternBank.B0;

var builder = client.DatagramBuilder();
builder.Push(new WriteFociBuffer(
    bank: bank,
    indexOffset: 0,
    points: points
));
builder.Push(new ConfigFociStm(
    bank: bank,
    config: new SamplingConfig(points.Length * Hz),
    size: (uint)points.Length,
    numFoci: 1,
    soundSpeed: 340.0f * m / s,
    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();