Merge branch 'develop'

.github/actions/setup-build/action.yml

@@ -16,7 +16,6 @@ runs:
   using: "composite"
   steps:
     - name: Setup Python
-      if: needs.check-src.outputs.status
       uses: actions/setup-python@v4
       with:
         python-version: "3.12"

.github/workflows/build.yml

@@ -41,16 +41,13 @@ jobs:
       - name: Rust cache
         if: needs.check-src.outputs.status
         uses: swatinem/rust-cache@v2
-        with:
-          workspaces: './src -> target'
 
       - name: Setup
         if: needs.check-src.outputs.status
         uses: ./.github/actions/setup-build
         with:
           github-token: ${{ secrets.GITHUB_TOKEN }}
           os: ${{ matrix.os }}
-          shaderc: false
 
       - name: Test src on ${{ matrix.os }}
         if: needs.check-src.outputs.status
@@ -75,16 +72,13 @@ jobs:
       - name: Rust cache
         if: needs.check-src.outputs.status
         uses: swatinem/rust-cache@v2
-        with:
-          workspaces: './src -> target'
 
       - name: Setup
         if: needs.check-src.outputs.status
         uses: ./.github/actions/setup-build
         with:
           github-token: ${{ secrets.GITHUB_TOKEN }}
           os: ${{ matrix.os }}
-          shaderc: false
 
       - name: Test src for unity on ${{ matrix.os }}
         if: needs.check-src.outputs.status
@@ -112,8 +106,6 @@ jobs:
       - name: Rust cache
         if: needs.check-src.outputs.status
         uses: swatinem/rust-cache@v2
-        with:
-          workspaces: './src -> target'
 
       - name: Test src on ${{ matrix.os }}
         if: needs.check-src.outputs.status
@@ -139,8 +131,6 @@ jobs:
       - name: Rust cache
         if: needs.check-src.outputs.status
         uses: swatinem/rust-cache@v2
-        with:
-          workspaces: './src -> target'
 
       - name: Test src on ${{ matrix.os }}
         if: needs.check-src.outputs.status
@@ -159,13 +149,10 @@ jobs:
         with:
           github-token: ${{ secrets.GITHUB_TOKEN }}
           os: ubuntu-latest
-          shaderc: false
 
       - name: Rust cache
         if: needs.check-src.outputs.status
         uses: swatinem/rust-cache@v2
-        with:
-          workspaces: './src -> target'
 
       - name: lint src
         if: needs.check-src.outputs.status

.github/workflows/coverage.yml

@@ -36,7 +36,6 @@ jobs:
         with:
           github-token: ${{ secrets.GITHUB_TOKEN }}
           os: ubuntu-latest
-          shaderc: false
       - uses: dtolnay/rust-toolchain@nightly
       - name: Install cargo-llvm-cov
         uses: taiki-e/install-action@cargo-llvm-cov

README.md

@@ -1,39 +1,15 @@
-<h1 align="center">
-AUTD3: Airborne Ultrasound Tactile Display 3
-</h1>
+# AUTD3
 
-<div align="center">
-
-![build](https://github.com/shinolab/autd3/workflows/build/badge.svg)
+![build](https://github.com/shinolab/autd3-rs/workflows/build/badge.svg)
 [![codecov](https://codecov.io/gh/shinolab/autd3-rs/graph/badge.svg)](https://codecov.io/gh/shinolab/autd3-rs)
 [![Crate.io version](https://img.shields.io/crates/v/autd3)](https://crates.io/crates/autd3)
 
-</div>
-
-<p align="center">
-Airborne Ultrasound Tactile Display (AUTD) is a midair haptic device that can remotely produce tactile sensation on a human skin surface without wearing devices.
-Please see <a href="https://hapislab.org/en/airborne-ultrasound-tactile-display">our laboratory homepage</a> for more details on AUTD.
-This repository contains a client library to drive AUTD version 3 devices.
-This cross-platform library supports Windows, macOS, and Linux (including Single Board Computer such as Raspberry Pi).
-</p>
-
-> [!WARNING]  
-> From v17.0.0, the software is completely incompatible with v2.x and v3.x firmware.
-> Before using this library, write the latest firmware in `firmware`. For more information, please see [autd3-firmware/README](https://github.com/shinolab/autd3-firmware).
-
 ## Example
 
 * See [examples](./examples)
 
     * If you are using Linux/macOS, you may need to run as root.
 
-## Citing
-
-* If you use this SDK in your research, please consider including the following citation in your publications:
-
-   * [S. Suzuki, S. Inoue, M. Fujiwara, Y. Makino, and H. Shinoda, "AUTD3: Scalable Airborne Ultrasound Tactile Display," in IEEE Transactions on Haptics, DOI: 10.1109/TOH.2021.3069976.](https://ieeexplore.ieee.org/document/9392322)
-   * S. Inoue, Y. Makino and H. Shinoda "Scalable Architecture for Airborne Ultrasound Tactile Display," Asia Haptics 2016
-
 ## LICENSE
 
 * See [LICENSE](./LICENSE)

autd3-derive/Cargo.toml

@@ -1,12 +1,12 @@
 [package]
 name = "autd3-derive"
-version = "19.0.0"
+version = "19.0.1"
 authors = ["shun suzuki <suzuki@hapis.k.u-tokyo.ac.jp>"]
 edition = "2021"
 
 license = "MIT"
 description = "Wav Modulation for AUTD."
-repository = "https://github.com/shinolab/autd3"
+repository = "https://github.com/shinolab/autd3-rs"
 readme = "README.md"
 keywords = ["autd"]
 

autd3-derive/src/lib.rs

@@ -4,7 +4,7 @@
  * Created Date: 28/04/2022
  * Author: Shun Suzuki
  * -----
- * Last Modified: 14/11/2023
+ * Last Modified: 13/12/2023
  * Modified By: Shun Suzuki (suzuki@hapis.k.u-tokyo.ac.jp)
  * -----
  * Copyright (c) 2022-2023 Shun Suzuki. All rights reserved.
@@ -21,16 +21,16 @@ pub fn modulation_derive(input: TokenStream) -> TokenStream {
 
     let freq_div_no_change = if let syn::Data::Struct(syn::DataStruct { fields, .. }) = input.data {
         fields.iter().any(|field| {
-            let is_freq_div = field
+            let is_config = field
                 .ident
                 .as_ref()
-                .map(|ident| ident == "freq_div")
+                .map(|ident| ident == "config")
                 .unwrap_or(false);
             let no_change = field
                 .attrs
                 .iter()
                 .any(|attr| matches!(&attr.meta, Meta::Path(path) if path.is_ident("no_change")));
-            is_freq_div && no_change
+            is_config && no_change
         })
     } else {
         false

autd3-driver/Cargo.toml

@@ -1,12 +1,12 @@
 [package]
 name = "autd3-driver"
-version = "19.0.0"
+version = "19.0.1"
 authors = ["shun suzuki <suzuki@hapis.k.u-tokyo.ac.jp>"]
 edition = "2021"
 
 license = "MIT"
 description = "AUTD3 driver"
-repository = "https://github.com/shinolab/autd3"
+repository = "https://github.com/shinolab/autd3-rs"
 readme = "README.md"
 keywords = ["autd"]
 

autd3-driver/src/datagram/mod.rs

@@ -4,7 +4,7 @@
  * Created Date: 29/09/2023
  * Author: Shun Suzuki
  * -----
- * Last Modified: 06/12/2023
+ * Last Modified: 13/12/2023
  * Modified By: Shun Suzuki (suzuki@hapis.k.u-tokyo.ac.jp)
  * -----
  * Copyright (c) 2023 Shun Suzuki. All rights reserved.
@@ -33,6 +33,7 @@ pub use modulation::{Modulation, ModulationProperty};
 pub use reads_fpga_info::ConfigureReadsFPGAInfo;
 pub use silencer::Silencer;
 pub use stm::{FocusSTM, GainSTM, STMProps};
+#[allow(deprecated)]
 pub use stop::Stop;
 pub use synchronize::Synchronize;
 pub use with_timeout::{DatagramT, DatagramWithTimeout};

autd3-driver/src/datagram/stop.rs

@@ -4,7 +4,7 @@
  * Created Date: 29/09/2023
  * Author: Shun Suzuki
  * -----
- * Last Modified: 21/11/2023
+ * Last Modified: 13/12/2023
  * Modified By: Shun Suzuki (suzuki@hapis.k.u-tokyo.ac.jp)
  * -----
  * Copyright (c) 2023 Shun Suzuki. All rights reserved.
@@ -20,14 +20,20 @@ use crate::{
 
 /// Datagram to stop output
 #[derive(Default)]
+#[deprecated(
+    since = "19.0.1",
+    note = "Users should manually send Silencer and gain::Null."
+)]
 pub struct Stop {}
 
+#[allow(deprecated)]
 impl Stop {
     pub const fn new() -> Self {
         Self {}
     }
 }
 
+#[allow(deprecated)]
 impl Datagram for Stop {
     type O1 = ConfigSilencerOp;
     type O2 = StopOp;
@@ -42,6 +48,8 @@ impl Datagram for Stop {
 
 #[cfg(test)]
 mod tests {
+    #![allow(deprecated)]
+
     use super::*;
 
     #[test]

autd3-driver/src/firmware_version.rs

@@ -4,7 +4,7 @@
  * Created Date: 27/04/2022
  * Author: Shun Suzuki
  * -----
- * Last Modified: 06/12/2023
+ * Last Modified: 14/12/2023
  * Modified By: Shun Suzuki (suzuki@hapis.k.u-tokyo.ac.jp)
  * -----
  * Copyright (c) 2022-2023 Shun Suzuki. All rights reserved.
@@ -14,7 +14,7 @@
 use std::fmt;
 
 pub const LATEST_VERSION_NUM_MAJOR: u8 = 0x8C;
-pub const LATEST_VERSION_NUM_MINOR: u8 = 0x00;
+pub const LATEST_VERSION_NUM_MINOR: u8 = 0x02;
 
 const ENABLED_EMULATOR_BIT: u8 = 1 << 7;
 
@@ -286,7 +286,7 @@ mod tests {
 
     #[test]
     fn latest_firmware_version() {
-        assert_eq!("v4.1.0", FirmwareInfo::latest_version());
+        assert_eq!("v4.1.2", FirmwareInfo::latest_version());
     }
 
     #[test]

autd3-driver/src/operation/stm/focus/focus_stm_op.rs

@@ -4,7 +4,7 @@
  * Created Date: 06/10/2023
  * Author: Shun Suzuki
  * -----
- * Last Modified: 27/11/2023
+ * Last Modified: 14/12/2023
  * Modified By: Shun Suzuki (suzuki@hapis.k.u-tokyo.ac.jp)
  * -----
  * Copyright (c) 2023 Shun Suzuki. All rights reserved.
@@ -169,13 +169,13 @@ impl Operation for FocusSTMOp {
         }
 
         match self.start_idx {
-            Some(idx) if idx >= self.points.len() as u16 => {
+            Some(idx) if idx as usize >= self.points.len() => {
                 return Err(AUTDInternalError::STMStartIndexOutOfRange)
             }
             _ => {}
         }
         match self.finish_idx {
-            Some(idx) if idx >= self.points.len() as u16 => {
+            Some(idx) if idx as usize >= self.points.len() => {
                 return Err(AUTDInternalError::STMFinishIndexOutOfRange)
             }
             _ => {}

autd3-firmware-emulator/Cargo.toml

@@ -1,16 +1,20 @@
 [package]
 name = "autd3-firmware-emulator"
-version = "19.0.0"
+version = "19.0.1"
 authors = ["shun suzuki <suzuki@hapis.k.u-tokyo.ac.jp>"]
 edition = "2021"
 
 license = "MIT"
 description = "AUTD3 firmware emulator"
-repository = "https://github.com/shinolab/autd3"
+repository = "https://github.com/shinolab/autd3-rs"
 readme = "README.md"
 keywords = ["autd"]
 
 [dependencies]
-autd3-driver = { path = "../autd3-driver", version = "19.0.0" }
+autd3-driver = { path = "../autd3-driver", version = "19.0.1" }
 num-integer = "0.1.45"
 thiserror = "1.0.40"
+
+[dev-dependencies]
+autd3-derive = { path = "../autd3-derive", version = "19.0.1" }
+rand = "0.8.5"