reorganize stm op

autd3-driver/src/datagram/mod.rs

@@ -19,6 +19,8 @@ mod with_segment;
 mod with_timeout;
 
 pub use super::firmware::operation::SwapSegment;
+#[doc(inline)]
+pub use super::firmware::operation::{ControlPoint, ControlPoints};
 pub use clear::Clear;
 pub use cpu_gpio_out::{CpuGPIO, CpuGPIOPort};
 pub use debug::DebugSettings;

autd3-driver/src/datagram/stm/foci/implement.rs

@@ -1,8 +1,10 @@
 use std::sync::Arc;
 
-use crate::{defined::ControlPoints, error::AUTDDriverError, geometry::Device};
+use crate::{error::AUTDDriverError, geometry::Device};
 
-use super::{FociSTMContext, FociSTMContextGenerator, FociSTMGenerator, IntoFociSTMGenerator};
+use super::{
+    ControlPoints, FociSTMContext, FociSTMContextGenerator, FociSTMGenerator, IntoFociSTMGenerator,
+};
 
 pub struct VecFociSTMContext<const N: usize> {
     foci: Arc<Vec<ControlPoints<N>>>,

autd3-driver/src/defined/mod.rs

@@ -1,5 +1,4 @@
 mod angle;
-mod control_point;
 mod freq;
 
 pub use std::f32::consts::PI;
@@ -16,7 +15,6 @@ mod unit {
 pub use unit::*;
 
 pub use angle::*;
-pub use control_point::*;
 pub use freq::*;
 
 pub const MILLIMETER: f32 = METER / 1000.0;

autd3-driver/src/firmware/operation/mod.rs

@@ -12,8 +12,7 @@ mod pulse_width_encoder;
 mod reads_fpga_state;
 mod segment;
 mod silencer;
-mod stm_foci;
-mod stm_gain;
+mod stm;
 mod sync;
 
 pub(crate) use clear::*;
@@ -33,10 +32,8 @@ pub(crate) use reads_fpga_state::*;
 pub use segment::SwapSegment;
 pub(crate) use segment::*;
 pub(crate) use silencer::*;
-pub use stm_foci::FociSTMContext;
-pub(crate) use stm_foci::*;
-pub use stm_gain::GainSTMContext;
-pub(crate) use stm_gain::*;
+pub(crate) use stm::*;
+pub use stm::{ControlPoint, ControlPoints, FociSTMContext, GainSTMContext};
 pub(crate) use sync::*;
 use zerocopy::{Immutable, IntoBytes};
 
@@ -73,12 +70,14 @@ pub(crate) enum TypeTag {
     CpuGPIOOut = 0xF2,
 }
 
+#[doc(hidden)]
 pub trait Operation: Send + Sync {
     fn required_size(&self, device: &Device) -> usize;
     fn pack(&mut self, device: &Device, tx: &mut [u8]) -> Result<usize, AUTDDriverError>;
     fn is_done(&self) -> bool;
 }
 
+#[doc(hidden)]
 pub trait OperationGenerator {
     type O1: Operation;
     type O2: Operation;
@@ -105,6 +104,7 @@ impl Default for Box<dyn Operation> {
     }
 }
 
+#[doc(hidden)]
 pub struct OperationHandler {}
 
 impl OperationHandler {
@@ -185,7 +185,7 @@ pub(crate) fn write_to_tx<T: IntoBytes + Immutable>(tx: &mut [u8], data: T) {
 }
 
 #[cfg(test)]
-pub mod tests {
+pub(crate) mod tests {
 
     use std::mem::size_of;
 

autd3-driver/src/firmware/operation/stm_foci.rs → autd3-driver/src/firmware/operation/stm/foci.rs

@@ -1,21 +1,23 @@
 use std::mem::size_of;
 
 use crate::{
-    defined::{ControlPoints, METER},
+    defined::METER,
     error::AUTDDriverError,
     firmware::{
         fpga::{
             LoopBehavior, STMFocus, SamplingConfig, Segment, TransitionMode, FOCI_STM_BUF_SIZE_MAX,
             FOCI_STM_FOCI_NUM_MAX, STM_BUF_SIZE_MIN, TRANSITION_MODE_NONE,
         },
-        operation::{Operation, TypeTag},
+        operation::{write_to_tx, Operation, TypeTag},
     },
     geometry::Device,
 };
 
 use derive_new::new;
 use zerocopy::{Immutable, IntoBytes};
 
+use super::ControlPoints;
+
 #[derive(Clone, Copy, PartialEq, Debug, IntoBytes, Immutable)]
 #[repr(C)]
 pub struct FociSTMControlFlags(u8);
@@ -97,13 +99,13 @@ impl<const N: usize, Context: FociSTMContext<N>> Operation for FociSTMOp<N, Cont
             (0..send_num).try_for_each(|_| {
                 let p = self.context.next();
                 let p = p.transform(device.inv());
-                super::write_to_tx(
+                write_to_tx(
                     &mut tx[idx..],
                     STMFocus::create(p[0].point(), p.intensity().value())?,
                 );
                 idx += size_of::<STMFocus>();
                 (1..N).try_for_each(|i| {
-                    super::write_to_tx(
+                    write_to_tx(
                         &mut tx[idx..],
                         STMFocus::create(
                             p[i].point(),
@@ -131,7 +133,7 @@ impl<const N: usize, Context: FociSTMContext<N>> Operation for FociSTMOp<N, Cont
             FociSTMControlFlags::NONE
         };
         if is_first {
-            super::write_to_tx(
+            write_to_tx(
                 tx,
                 FociSTMHead {
                     tag: TypeTag::FociSTM,
@@ -152,7 +154,7 @@ impl<const N: usize, Context: FociSTMContext<N>> Operation for FociSTMOp<N, Cont
             );
             Ok(size_of::<FociSTMHead>() + size_of::<STMFocus>() * send_num * N)
         } else {
-            super::write_to_tx(
+            write_to_tx(
                 tx,
                 FociSTMSubseq {
                     tag: TypeTag::FociSTM,
@@ -189,9 +191,12 @@ mod tests {
 
     use super::*;
     use crate::{
-        defined::{mm, ControlPoint},
+        defined::mm,
         ethercat::DcSysTime,
-        firmware::fpga::{FOCI_STM_FIXED_NUM_UNIT, FOCI_STM_FIXED_NUM_UPPER_X},
+        firmware::{
+            fpga::{FOCI_STM_FIXED_NUM_UNIT, FOCI_STM_FIXED_NUM_UPPER_X},
+            operation::ControlPoint,
+        },
         geometry::{tests::create_device, Point3},
     };
 

autd3-driver/src/firmware/operation/stm_gain.rs → autd3-driver/src/firmware/operation/stm/gain.rs

@@ -10,13 +10,11 @@ use crate::{
             Drive, LoopBehavior, SamplingConfig, Segment, TransitionMode, GAIN_STM_BUF_SIZE_MAX,
             STM_BUF_SIZE_MIN, TRANSITION_MODE_NONE,
         },
-        operation::{Operation, TypeTag},
+        operation::{write_to_tx, GainContext, Operation, TypeTag},
     },
     geometry::Device,
 };
 
-use super::GainContext;
-
 use derive_new::new;
 use zerocopy::{FromBytes, Immutable, IntoBytes, KnownLayout};
 
@@ -125,7 +123,7 @@ impl<G: GainContext, Context: GainSTMContext<Context = G>> Operation for GainSTM
                             .chunks_mut(size_of::<Drive>())
                             .zip(device.iter())
                             .for_each(|(dst, tr)| {
-                                super::write_to_tx(dst, g.calc(tr));
+                                write_to_tx(dst, g.calc(tr));
                             });
                         send += 1;
                     }
@@ -182,7 +180,7 @@ impl<G: GainContext, Context: GainSTMContext<Context = G>> Operation for GainSTM
         );
 
         if is_first {
-            super::write_to_tx(
+            write_to_tx(
                 tx,
                 GainSTMHead {
                     tag: TypeTag::GainSTM,
@@ -198,7 +196,7 @@ impl<G: GainContext, Context: GainSTMContext<Context = G>> Operation for GainSTM
                 },
             );
         } else {
-            super::write_to_tx(
+            write_to_tx(
                 tx,
                 GainSTMSubseq {
                     tag: TypeTag::GainSTM,

autd3-driver/src/firmware/operation/stm/mod.rs

@@ -0,0 +1,7 @@
+mod control_point;
+mod foci;
+mod gain;
+
+pub use control_point::*;
+pub use foci::*;
+pub use gain::*;

autd3-firmware-emulator/tests/op/gain.rs

@@ -2,7 +2,6 @@ use std::collections::HashMap;
 
 use autd3_driver::{
     datagram::*,
-    defined::ControlPoint,
     derive::*,
     firmware::{
         cpu::TxMessage,

autd3-firmware-emulator/tests/op/reads_fpga_state.rs

@@ -1,6 +1,5 @@
 use autd3_driver::{
     datagram::*,
-    defined::ControlPoint,
     derive::{LoopBehavior, SamplingConfig, Segment, TransitionMode},
     firmware::{cpu::TxMessage, fpga::FPGAState},
     geometry::Point3,

autd3-firmware-emulator/tests/op/stm/foci.rs

@@ -2,9 +2,10 @@ use std::{collections::HashMap, time::Duration};
 
 use autd3_driver::{
     datagram::{
-        FixedCompletionTime, FociSTM, GainSTM, IntoDatagramWithSegment, Silencer, SwapSegment,
+        ControlPoint, ControlPoints, FixedCompletionTime, FociSTM, GainSTM,
+        IntoDatagramWithSegment, Silencer, SwapSegment,
     },
-    defined::{mm, ControlPoint, ControlPoints, METER},
+    defined::{mm, METER},
     derive::{LoopBehavior, SamplingConfig, Segment},
     error::AUTDDriverError,
     ethercat::{DcSysTime, ECAT_DC_SYS_TIME_BASE},

autd3-firmware-emulator/tests/op/stm/gain.rs

@@ -2,9 +2,9 @@ use std::collections::HashMap;
 
 use autd3_driver::{
     datagram::{
-        FixedCompletionTime, FociSTM, GainSTM, IntoDatagramWithSegment, Silencer, SwapSegment,
+        ControlPoint, FixedCompletionTime, FociSTM, GainSTM, IntoDatagramWithSegment, Silencer,
+        SwapSegment,
     },
-    defined::ControlPoint,
     derive::*,
     firmware::{
         cpu::{GainSTMMode, TxMessage},

autd3-protobuf/src/traits/driver/datagram/stm/control_point.rs

@@ -4,7 +4,7 @@ use crate::{
     AUTDProtoBufError,
 };
 
-impl ToMessage for autd3_driver::defined::ControlPoint {
+impl ToMessage for autd3_driver::datagram::ControlPoint {
     type Message = ControlPoint;
 
     fn to_msg(&self, _: Option<&autd3_driver::geometry::Geometry>) -> Self::Message {
@@ -15,9 +15,9 @@ impl ToMessage for autd3_driver::defined::ControlPoint {
     }
 }
 
-impl FromMessage<ControlPoint> for autd3_driver::defined::ControlPoint {
+impl FromMessage<ControlPoint> for autd3_driver::datagram::ControlPoint {
     fn from_msg(msg: &ControlPoint) -> Result<Self, AUTDProtoBufError> {
-        let mut p = autd3_driver::defined::ControlPoint::from(
+        let mut p = autd3_driver::datagram::ControlPoint::from(
             autd3_driver::geometry::Point3::from_msg(&msg.pos)?,
         );
         if let Some(offset) = msg.offset.as_ref() {
@@ -27,7 +27,7 @@ impl FromMessage<ControlPoint> for autd3_driver::defined::ControlPoint {
     }
 }
 
-impl<const N: usize> ToMessage for autd3_driver::defined::ControlPoints<N> {
+impl<const N: usize> ToMessage for autd3_driver::datagram::ControlPoints<N> {
     type Message = ControlPoints;
 
     fn to_msg(&self, _: Option<&autd3_driver::geometry::Geometry>) -> Self::Message {

autd3-protobuf/src/traits/driver/datagram/stm/foci.rs

@@ -4,7 +4,7 @@ use crate::{pb::*, traits::*};
 
 seq_macro::seq!(N in 1..=8 {
     #(
-        impl ToMessage for autd3_driver::datagram::FociSTM<N, Vec<autd3_driver::defined::ControlPoints<N>>> {
+        impl ToMessage for autd3_driver::datagram::FociSTM<N, Vec<autd3_driver::datagram::ControlPoints<N>>> {
             type Message = FociStm~N;
 
             fn to_msg(&self, _: Option<&autd3_driver::geometry::Geometry>) -> Self::Message {
@@ -22,7 +22,7 @@ seq_macro::seq!(N in 1..=8 {
 
 seq_macro::seq!(N in 1..=8 {
     #(
-        impl FromMessage<FociStm~N> for autd3_driver::datagram::FociSTM<N, Vec<autd3_driver::defined::ControlPoints<N>>> {
+        impl FromMessage<FociStm~N> for autd3_driver::datagram::FociSTM<N, Vec<autd3_driver::datagram::ControlPoints<N>>> {
             fn from_msg(msg: &FociStm~N) -> Result<Self, AUTDProtoBufError> {
                 let props = msg
                     .props
@@ -39,9 +39,9 @@ seq_macro::seq!(N in 1..=8 {
                     msg.foci
                         .iter()
                         .map(|f| {
-                            let mut c = autd3_driver::defined::ControlPoints::<N>::new(
+                            let mut c = autd3_driver::datagram::ControlPoints::<N>::new(
                                 (0..N)
-                                    .map(|i| autd3_driver::defined::ControlPoint::from_msg(&f.points[i]))
+                                    .map(|i| autd3_driver::datagram::ControlPoint::from_msg(&f.points[i]))
                                     .collect::<Result<Vec<_>, AUTDProtoBufError>>()?
                                     .as_slice()
                                     .try_into()

autd3/src/datagram/stm/circle.rs

@@ -2,10 +2,10 @@ use std::f32::consts::PI;
 
 use autd3_driver::{
     datagram::{
-        FociSTMContext, FociSTMContextGenerator, FociSTMGenerator, GainSTMContext,
-        GainSTMContextGenerator, GainSTMGenerator, IntoFociSTMGenerator, IntoGainSTMGenerator,
+        ControlPoint, ControlPoints, FociSTMContext, FociSTMContextGenerator, FociSTMGenerator,
+        GainSTMContext, GainSTMContextGenerator, GainSTMGenerator, IntoFociSTMGenerator,
+        IntoGainSTMGenerator,
     },
-    defined::{ControlPoint, ControlPoints},
     derive::{EmitIntensity, Phase},
     geometry::{Point3, UnitVector3, Vector3},
 };

autd3/src/datagram/stm/line.rs

@@ -1,9 +1,9 @@
 use autd3_driver::{
     datagram::{
-        FociSTMContext, FociSTMContextGenerator, FociSTMGenerator, GainSTMContext,
-        GainSTMContextGenerator, GainSTMGenerator, IntoFociSTMGenerator, IntoGainSTMGenerator,
+        ControlPoint, ControlPoints, FociSTMContext, FociSTMContextGenerator, FociSTMGenerator,
+        GainSTMContext, GainSTMContextGenerator, GainSTMGenerator, IntoFociSTMGenerator,
+        IntoGainSTMGenerator,
     },
-    defined::{ControlPoint, ControlPoints},
     derive::{EmitIntensity, Phase},
     geometry::{Point3, Vector3},
 };

autd3/src/prelude.rs

@@ -12,14 +12,12 @@ pub use crate::{
 pub use autd3_driver::{
     autd3_device::AUTD3,
     datagram::{
-        Clear, DebugSettings, FixedCompletionTime, FixedUpdateRate, FociSTM, ForceFan, GainSTM,
-        IntoDatagramWithParallelThreshold, IntoDatagramWithSegment, IntoDatagramWithTimeout,
-        Modulation, ModulationProperty, PhaseCorrection, PulseWidthEncoder, ReadsFPGAState,
-        Silencer, SwapSegment,
-    },
-    defined::{
-        deg, kHz, mm, rad, ControlPoint, ControlPoints, Hz, PI, ULTRASOUND_FREQ, ULTRASOUND_PERIOD,
+        Clear, ControlPoint, ControlPoints, DebugSettings, FixedCompletionTime, FixedUpdateRate,
+        FociSTM, ForceFan, GainSTM, IntoDatagramWithParallelThreshold, IntoDatagramWithSegment,
+        IntoDatagramWithTimeout, Modulation, ModulationProperty, PhaseCorrection,
+        PulseWidthEncoder, ReadsFPGAState, Silencer, SwapSegment,
     },
+    defined::{deg, kHz, mm, rad, Hz, PI, ULTRASOUND_FREQ, ULTRASOUND_PERIOD},
     error::AUTDDriverError,
     ethercat::DcSysTime,
     firmware::{