Pattern

Pattern is a command that sends the Emission of each transducer to the device.

API

Rust

Pattern::new(&emissions);

Pattern::with_bank(bank, &emissions);

Pattern {
    bank,
    emissions: &emissions,
    transition_mode,
};

Pattern::new sets the destination bank to PatternBank::B0. To write to another bank, use Pattern::with_bank(bank, emissions).

Python

Pattern(emissions)

Pattern(
    bank=bank,
    emissions=emissions,
    transition_mode=transition_mode,
)

Pattern sets the destination bank to PatternBank.B0 by default. To specify another bank, pass the bank argument.

C#

new Pattern(emissions);

new Pattern(bank, emissions);

new Pattern(
    bank: bank,
    emissions: emissions,
    transitionMode: transitionMode
);

new Pattern(emissions) sets the destination bank to PatternBank.B0. To write to another bank, use new Pattern(bank, emissions).

Field	Type	Default	Description
bank	PatternBank	PatternBank::B0	Bank to write to / play back
emissions	&[Vec<Emission>]	—	Emission pattern per device
transition_mode	TransitionMode	TransitionMode::Immediate	Behavior when switching the bank

Several helper functions are provided for computing patterns.

Equivalent Low-Level Commands

Pattern is equivalent to the three commands WritePatternBuffer + ConfigPattern + ChangePatternBank, which are fused into a single frame. The following is equivalent to Pattern { bank, emissions }.

When transition_mode is TransitionMode::Later, nothing is fused: the command decomposes into the two frames WritePatternBuffer + ConfigPattern and no ChangePatternBank is sent. See the TransitionMode section of ChangePatternBank for details.

Rust

WritePatternBuffer {
    bank,
    index: 0,
    emissions,
};
ConfigPattern {
    bank,
    config: SamplingConfig::new(NonZeroU16::MAX),
    size: 1,
    loop_behavior: LoopBehavior::Infinite,
};
ChangePatternBank {
    bank,
    transition_mode,
};

Python

WritePatternBuffer(
    bank=bank,
    index=0,
    emissions=emissions,
)
ConfigPattern(
    bank=bank,
    config=SamplingConfig(0xFFFF),
    size=1,
    loop_behavior=LoopBehavior.Infinite,
)
ChangePatternBank(
    bank=bank,
    transition_mode=transition_mode,
)

C#

new WritePatternBuffer(
    bank: bank,
    index: 0,
    emissions: emissions
);
new ConfigPattern(
    bank: bank,
    config: new SamplingConfig(ushort.MaxValue),
    size: 1,
    loopBehavior: LoopBehavior.Infinite
);
new ChangePatternBank(
    bank: bank,
    transitionMode: transitionMode
);

Example

Rust

use autd3_rs::commands::Pattern;
use autd3_rs::geometry::{Autd3, Geometry, offset};
use autd3_rs::units::{m, mm, s};
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 mut builder = client.datagram_builder();
builder.push(Pattern::new(&emissions));
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 Pattern
from autd3.geometry import Autd3, Geometry
from autd3.units import m, s
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,
    )

    builder = client.datagram_builder()
    builder.push(Pattern(emissions))
    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 builder = client.DatagramBuilder();
builder.Push(new Pattern(emissions));
var frames = builder.Build();
foreach (var frame in frames)
{
    await client.SendCheckedAsync(frame);
}

await client.CloseAsync();