add autd3-core crate

.github/workflows/build.yml

@@ -86,6 +86,7 @@ jobs:
       - uses: dtolnay/install@cargo-docs-rs
       - run: | 
           cargo +nightly docs-rs -pautd3
+          cargo +nightly docs-rs -pautd3-core
           cargo +nightly docs-rs -pautd3-derive
           cargo +nightly docs-rs -pautd3-driver
           cargo +nightly docs-rs -pautd3-firmware-emulator

.github/workflows/pr.yml

@@ -151,6 +151,7 @@ jobs:
       - uses: dtolnay/install@cargo-docs-rs
       - run: | 
           cargo +nightly docs-rs -pautd3
+          cargo +nightly docs-rs -pautd3-core
           cargo +nightly docs-rs -pautd3-derive
           cargo +nightly docs-rs -pautd3-driver
           cargo +nightly docs-rs -pautd3-firmware-emulator

.github/workflows/release.yml

@@ -20,6 +20,10 @@ jobs:
         with:
           feature-group: default-features
       - run: |
+          cd autd3-core
+          cargo publish --no-verify --token ${{ secrets.CRATEIO_TOKEN }}
+          cd .. && sleep 15
+
           cd autd3-driver
           cargo publish --no-verify --token ${{ secrets.CRATEIO_TOKEN }}
           cd .. && sleep 15

Cargo.toml

@@ -2,6 +2,7 @@
 
 members = [
     "autd3",
+    "autd3-core",
     "autd3-driver",
     "autd3-derive",
     "autd3-gain-holo",
@@ -11,6 +12,7 @@ members = [
     "autd3-firmware-emulator",
     "autd3-protobuf",
     "examples",
+    "autd3-core",
 ]
 resolver = "2"
 
@@ -23,57 +25,57 @@ repository = "https://github.com/shinolab/autd3-rs"
 keywords = ["autd"]
 
 [workspace.dependencies]
+zerocopy = { version = "0.8.14", default-features = false }
 anyhow = { version = "1.0.95", default-features = false }
-async-trait = "0.1.85"
-bitfield-struct = "0.10.0"
-bitflags = "2.7.0"
+async-trait = { version = "0.1.85", default-features = false }
+bitfield-struct = { version = "0.10.0", default-features = false }
+bitflags = { version = "2.7.0", default-features = false }
 bit-vec = { version = "0.8.0", default-features = false }
 bvh = { version = "0.10.0", default-features = false }
-cc = "1.2.7"
-color-print = "0.3.7"
+cc = { version = "1.2.9", default-features = false }
+color-print = { version = "0.3.7", default-features = false }
 criterion = { version = "0.5.1", default-features = false }
 derive-new = { version = "0.7.0", default-features = false }
-glob = "0.3.2"
-hound = "3.5.1"
-itertools = { version = "0.14.0", features = ["use_alloc"], default-features = false }
-libloading = "0.8.6"
+glob = { version = "0.3.2", default-features = false }
+hound = { version = "3.5.1", default-features = false }
+itertools = { version = "0.14.0", default-features = false }
+libloading = { version = "0.8.6", default-features = false }
 nalgebra = { version = "0.33.2", default-features = false }
 num = { version = "0.4.3", default-features = false }
-num-integer = { version = "0.1.46", default-features = false }
-paste = "1.0.15"
-proc-macro2 = { version = "1.0.89", default-features = false }
-prost = { version = "0.13.4", features = ["derive"], default-features = false }
+paste = { version = "1.0.15", default-features = false }
+proc-macro2 = { version = "1.0.93", default-features = false }
+prost = { version = "0.13.4", default-features = false }
 quote = { version = "1.0.38", default-features = false }
 rand = { version = "0.8.5", default-features = false }
 rstest = { version = "0.24.0", default-features = false }
 serde = { version = "1.0.217", default-features = false }
-serde_json = "1.0.135"
+serde_json = { version = "1.0.135", default-features = false }
 syn = { version = "2.0.96", default-features = false }
-tempfile = "3.15.0"
+tempfile = { version = "3.15.0", default-features = false }
 thiserror = { version = "2.0.10", default-features = false }
 time = { version = "0.3.37", default-features = false }
-tokio = "1.43.0"
-tokio-test = "0.4.4"
+tokio = { version = "1.43.0", default-features = false }
+tokio-test = { version = "0.4.4", default-features = false }
 tonic = { version = "0.12.3", default-features = false }
 tonic-build = { version = "0.12.3", default-features = false }
-rayon = "1.10.0"
+rayon = { version = "1.10.0", default-features = false }
 derive_more = { version = "1.0.0", default-features = false }
-tracing-subscriber = { version = "0.3.19", features = ["fmt"], default-features = false }
+tracing-subscriber = { version = "0.3.19", default-features = false }
 tracing = { version = "0.1.41", default-features = false }
-regex = "1.11.1"
-tynm = "0.1.10"
+regex = { version = "1.11.1", default-features = false }
+tynm = { version = "0.1.10", default-features = false }
 approx = { version = "0.5.1", default-features = false }
-csv = "1.3.1"
-seq-macro = "0.3.5"
-spin_sleep = "1.3.0"
+csv = { version = "1.3.1", default-features = false }
+seq-macro = { version = "0.3.5", default-features = false }
+spin_sleep = { version = "1.3.0", default-features = false }
 windows = { version = "0.59.0", default-features = false }
-zerocopy = { version = "0.8.14", features = ["derive"] }
-autd3 = { path = "./autd3", version = "29.0.0-rc.14" }
+autd3 = { path = "./autd3", version = "29.0.0-rc.14", default-features = false }
+autd3-core = { path = "./autd3-core", version = "29.0.0-rc.14", default-features = false }
 autd3-driver = { path = "./autd3-driver", version = "29.0.0-rc.14", default-features = false }
-autd3-derive = { path = "./autd3-derive", version = "29.0.0-rc.14" }
-autd3-gain-holo = { path = "./autd3-gain-holo", version = "29.0.0-rc.14" }
-autd3-link-simulator = { path = "./autd3-link-simulator", version = "29.0.0-rc.14" }
+autd3-derive = { path = "./autd3-derive", version = "29.0.0-rc.14", default-features = false }
+autd3-gain-holo = { path = "./autd3-gain-holo", version = "29.0.0-rc.14", default-features = false }
+autd3-link-simulator = { path = "./autd3-link-simulator", version = "29.0.0-rc.14", default-features = false }
 autd3-link-twincat = { path = "./autd3-link-twincat", version = "29.0.0-rc.14", default-features = false }
-autd3-modulation-audio-file = { path = "./autd3-modulation-audio-file", version = "29.0.0-rc.14" }
-autd3-firmware-emulator = { path = "./autd3-firmware-emulator", version = "29.0.0-rc.14" }
-autd3-protobuf = { path = "./autd3-protobuf", version = "29.0.0-rc.14" }
+autd3-modulation-audio-file = { path = "./autd3-modulation-audio-file", version = "29.0.0-rc.14", default-features = false }
+autd3-firmware-emulator = { path = "./autd3-firmware-emulator", version = "29.0.0-rc.14", default-features = false }
+autd3-protobuf = { path = "./autd3-protobuf", version = "29.0.0-rc.14", default-features = false }

autd3-core/Cargo.toml

@@ -0,0 +1,66 @@
+[package]
+name = "autd3-core"
+description = "AUTD3 core traits and types"
+readme = "README.md"
+keywords = { workspace = true }
+version = { workspace = true }
+authors = { workspace = true }
+edition = { workspace = true }
+license = { workspace = true }
+repository = { workspace = true }
+
+[dependencies]
+async-trait = { workspace = true, default-features = false, optional = true }
+autd3-derive = { workspace = true, default-features = false, optional = true }
+bit-vec = { workspace = true, default-features = false, optional = true }
+bvh = { workspace = true, default-features = false, optional = true }
+derive_more = { workspace = true, default-features = false, optional = true }
+derive-new = { workspace = true, default-features = false, optional = true }
+nalgebra = { workspace = true, default-features = false, optional = true }
+paste = { workspace = true, default-features = false, optional = true }
+time = { workspace = true, default-features = false, features = ["macros", "std"], optional = true }
+thiserror = { workspace = true, default-features = false, optional = true }
+tracing = { workspace = true, default-features = false, optional = true }
+zerocopy = { workspace = true, default-features = false, features = ["derive"], optional = true }
+
+[dev-dependencies]
+anyhow = { workspace = true }
+approx = { workspace = true }
+itertools = { workspace = true }
+rand = { workspace = true }
+rstest = { workspace = true }
+
+[features]
+acoustics = ["defined", "geometry"]
+async = []
+async-trait = ["async", "dep:async-trait"]
+datagram = ["defined", "geometry", "ethercat"]
+defined = ["derive_more", "derive_more/add", "derive_more/mul", "derive_more/debug"]
+derive = ["datagram", "autd3-derive", "tracing"]
+dynamic_freq = []
+ethercat = ["time", "thiserror"]
+gain = ["defined", "datagram", "geometry", "thiserror", "bit-vec", "zerocopy", "derive_more", "derive_more/display"]
+geometry = [
+    "nalgebra",
+    "bvh",
+    "paste",
+    "autd3-derive",
+    "defined",
+    "derive-new",
+    "derive_more",
+    "derive_more/add",
+    "derive_more/mul",
+    "derive_more/into_iterator",
+    "derive_more/deref",
+    "derive_more/debug",
+]
+left_handed = []
+link = ["zerocopy", "autd3-derive", "ethercat", "geometry", "derive_more", "derive_more/display"]
+modulation = ["autd3-derive", "utils", "defined", "datagram", "derive_more", "derive_more/display"]
+resampler = ["modulation", "defined", "tracing", "utils"]
+use_meter = []
+utils = []
+
+[package.metadata.docs.rs]
+all-features = true
+rustdoc-args = ["--cfg", "docsrs"]

autd3-core/README.md

@@ -0,0 +1,7 @@
+# autd3-core
+
+AUTD3 core traits and types.
+
+# Author
+
+Shun Suzuki, 2025

autd3-driver/src/acoustics/mod.rs → autd3-core/src/acoustics/mod.rs

@@ -1,9 +1,11 @@
 /// directivity module
 pub mod directivity;
 
+use std::f32::consts::PI;
+
 use crate::{
-    defined::{Complex, PI, T4010A1_AMPLITUDE},
-    geometry::{Point3, Transducer, UnitVector3},
+    defined::T4010A1_AMPLITUDE,
+    geometry::{Complex, Point3, Transducer, UnitVector3},
 };
 
 use directivity::Directivity;

autd3-core/src/datagram/mod.rs

@@ -0,0 +1,83 @@
+mod gpio;
+mod operation;
+mod segment;
+mod transition_mode;
+mod tuple;
+
+pub use gpio::{GPIOIn, GPIOOut};
+pub use operation::{NullOp, Operation};
+pub use segment::Segment;
+pub use transition_mode::{TransitionMode, TRANSITION_MODE_NONE};
+pub use tuple::{CombinedError, CombinedOperationGenerator};
+
+use std::time::Duration;
+
+use crate::{defined::DEFAULT_TIMEOUT, geometry::Geometry};
+
+/// [`Datagram`] represents the data sent to the device.
+pub trait Datagram: std::fmt::Debug {
+    #[doc(hidden)]
+    type G;
+    #[doc(hidden)]
+    type Error: std::error::Error;
+
+    #[doc(hidden)]
+    fn operation_generator(self, geometry: &Geometry) -> Result<Self::G, Self::Error>;
+
+    /// Returns the timeout duration.
+    fn timeout(&self) -> Option<Duration> {
+        Some(DEFAULT_TIMEOUT)
+    }
+
+    /// Returns the parallel threshold.
+    fn parallel_threshold(&self) -> Option<usize> {
+        Some(usize::MAX)
+    }
+}
+
+/// [`DatagramS`] represents a [`Datagram`] that can specify [`Segment`] to write the data.
+pub trait DatagramS: std::fmt::Debug {
+    #[doc(hidden)]
+    type G;
+    #[doc(hidden)]
+    type Error: std::error::Error;
+
+    #[doc(hidden)]
+    fn operation_generator_with_segment(
+        self,
+        geometry: &Geometry,
+        segment: Segment,
+        transition_mode: Option<TransitionMode>,
+    ) -> Result<Self::G, Self::Error>;
+
+    /// Returns the timeout duration.
+    fn timeout(&self) -> Option<Duration> {
+        Some(DEFAULT_TIMEOUT)
+    }
+
+    /// Returns the parallel threshold.
+    fn parallel_threshold(&self) -> Option<usize> {
+        Some(usize::MAX)
+    }
+}
+
+impl<D: DatagramS> Datagram for D {
+    type G = D::G;
+    type Error = D::Error;
+
+    fn operation_generator(self, geometry: &Geometry) -> Result<Self::G, D::Error> {
+        self.operation_generator_with_segment(
+            geometry,
+            Segment::S0,
+            Some(TransitionMode::Immediate),
+        )
+    }
+
+    fn timeout(&self) -> Option<Duration> {
+        <Self as DatagramS>::timeout(self)
+    }
+
+    fn parallel_threshold(&self) -> Option<usize> {
+        <Self as DatagramS>::parallel_threshold(self)
+    }
+}

autd3-core/src/datagram/operation.rs

@@ -0,0 +1,35 @@
+use crate::geometry::Device;
+
+#[doc(hidden)]
+pub trait Operation: Send + Sync {
+    type Error: std::error::Error;
+
+    fn required_size(&self, device: &Device) -> usize;
+    fn pack(&mut self, device: &Device, tx: &mut [u8]) -> Result<usize, Self::Error>;
+    fn is_done(&self) -> bool;
+}
+
+#[doc(hidden)]
+pub struct NullOp;
+
+impl Operation for NullOp {
+    type Error = std::convert::Infallible;
+
+    fn required_size(&self, _: &Device) -> usize {
+        0
+    }
+
+    fn pack(&mut self, _: &Device, _: &mut [u8]) -> Result<usize, Self::Error> {
+        unreachable!()
+    }
+
+    fn is_done(&self) -> bool {
+        true
+    }
+}
+
+impl Default for Box<dyn Operation<Error = std::convert::Infallible>> {
+    fn default() -> Self {
+        Box::new(NullOp)
+    }
+}

autd3-driver/src/firmware/fpga/transition_mode.rs → autd3-core/src/datagram/transition_mode.rs

@@ -1,12 +1,13 @@
 use crate::ethercat::DcSysTime;
 
-use super::GPIOIn;
+use super::gpio::GPIOIn;
 
 pub(crate) const TRANSITION_MODE_SYNC_IDX: u8 = 0x00;
 pub(crate) const TRANSITION_MODE_SYS_TIME: u8 = 0x01;
 pub(crate) const TRANSITION_MODE_GPIO: u8 = 0x02;
 pub(crate) const TRANSITION_MODE_EXT: u8 = 0xF0;
-pub(crate) const TRANSITION_MODE_NONE: u8 = 0xFE;
+#[doc(hidden)]
+pub const TRANSITION_MODE_NONE: u8 = 0xFE;
 pub(crate) const TRANSITION_MODE_IMMEDIATE: u8 = 0xFF;
 
 /// Transition mode of segment
@@ -26,7 +27,8 @@ pub enum TransitionMode {
 }
 
 impl TransitionMode {
-    pub(crate) const fn mode(&self) -> u8 {
+    #[doc(hidden)]
+    pub const fn mode(&self) -> u8 {
         match self {
             TransitionMode::SyncIdx => TRANSITION_MODE_SYNC_IDX,
             TransitionMode::SysTime(_) => TRANSITION_MODE_SYS_TIME,
@@ -36,7 +38,8 @@ impl TransitionMode {
         }
     }
 
-    pub(crate) const fn value(&self) -> u64 {
+    #[doc(hidden)]
+    pub const fn value(&self) -> u64 {
         match self {
             TransitionMode::SyncIdx | TransitionMode::Ext | TransitionMode::Immediate => 0,
             TransitionMode::GPIO(gpio) => *gpio as u64,