bump to v22.1.0

shinolab · Apr 8, 2024 · 8c40244 · 8c40244
1 parent 6db0d93
commit 8c40244
Show file tree

Hide file tree

Showing 28 changed files with 153 additions and 72 deletions.
diff --git a/ThirdPartyNotice.txt b/ThirdPartyNotice.txt
@@ -66,35 +66,35 @@ atomic-polyfill 1.0.3 (Apache-2.0 OR MIT)
 https://github.com/embassy-rs/atomic-polyfill
 ---------------------------------------------------------
 
-autd3 22.0.4 (MIT)
+autd3 22.1.0 (MIT)
 https://github.com/shinolab/autd3-rs
 ---------------------------------------------------------
 
 autd3-backend-cuda 22.0.4 (MIT)
 https://github.com/shinolab/autd3-backend-cuda
 ---------------------------------------------------------
 
-autd3-derive 22.0.4 (MIT)
+autd3-derive 22.1.0 (MIT)
 https://github.com/shinolab/autd3-rs
 ---------------------------------------------------------
 
-autd3-driver 22.0.4 (MIT)
+autd3-driver 22.1.0 (MIT)
 https://github.com/shinolab/autd3-rs
 ---------------------------------------------------------
 
-autd3-firmware-emulator 22.0.4 (MIT)
+autd3-firmware-emulator 22.1.0 (MIT)
 https://github.com/shinolab/autd3-rs
 ---------------------------------------------------------
 
-autd3-gain-holo 22.0.4 (MIT)
+autd3-gain-holo 22.1.0 (MIT)
 https://github.com/shinolab/autd3-rs
 ---------------------------------------------------------
 
-autd3-link-simulator 22.0.4 (MIT)
+autd3-link-simulator 22.1.0 (MIT)
 https://github.com/shinolab/autd3-rs
 ---------------------------------------------------------
 
-autd3-link-soem 22.0.4
+autd3-link-soem 22.1.0
 https://github.com/shinolab/autd3-rs
 
 ---
@@ -160,7 +160,7 @@ SOEM write to Beckhoff Automation GmbH, Eiserstrasse 5, D-33415 Verl, Germany
 
 ---------------------------------------------------------
 
-autd3-link-twincat 22.0.4
+autd3-link-twincat 22.1.0
 https://github.com/shinolab/autd3-rs
 
 ---
@@ -216,40 +216,40 @@ autd3-link-visualizer 22.0.4 (MIT)
 https://github.com/shinolab/autd3-link-visualizer
 ---------------------------------------------------------
 
-autd3-modulation-audio-file 22.0.4 (MIT)
+autd3-modulation-audio-file 22.1.0 (MIT)
 https://github.com/shinolab/autd3-rs
 ---------------------------------------------------------
 
-autd3-protobuf 22.0.4 (MIT)
+autd3-protobuf 22.1.0 (MIT)
 https://github.com/shinolab/autd3-rs
 ---------------------------------------------------------
 
-autd3capi 22.0.4 (MIT)
+autd3capi 22.1.0 (MIT)
 ---------------------------------------------------------
 
-autd3capi-backend-cuda 22.0.4 (MIT)
+autd3capi-backend-cuda 22.1.0 (MIT)
 ---------------------------------------------------------
 
-autd3capi-def 22.0.4 (MIT)
+autd3capi-def 22.1.0 (MIT)
 https://github.com/shinolab/autd3
 ---------------------------------------------------------
 
-autd3capi-gain-holo 22.0.4 (MIT)
+autd3capi-gain-holo 22.1.0 (MIT)
 ---------------------------------------------------------
 
-autd3capi-link-simulator 22.0.4 (MIT)
+autd3capi-link-simulator 22.1.0 (MIT)
 ---------------------------------------------------------
 
-autd3capi-link-soem 22.0.4 (MIT)
+autd3capi-link-soem 22.1.0 (MIT)
 ---------------------------------------------------------
 
-autd3capi-link-twincat 22.0.4 (MIT)
+autd3capi-link-twincat 22.1.0 (MIT)
 ---------------------------------------------------------
 
-autd3capi-link-visualizer 22.0.4 (MIT)
+autd3capi-link-visualizer 22.1.0 (MIT)
 ---------------------------------------------------------
 
-autd3capi-modulation-audio-file 22.0.4 (MIT)
+autd3capi-modulation-audio-file 22.1.0 (MIT)
 ---------------------------------------------------------
 
 autocfg 1.2.0 (Apache-2.0 OR MIT)

diff --git a/derive/AUTD3Sharp.Derive.csproj b/derive/AUTD3Sharp.Derive.csproj
@@ -13,7 +13,7 @@
 
     <Platforms>AnyCPU</Platforms>
     <GeneratePackageOnBuild>true</GeneratePackageOnBuild>
-    <Version>22.0.4</Version>
+    <Version>22.1.0</Version>
     <Authors>Shun Suzuki</Authors>
     <Company>Shinolab</Company>
     <Description>AUTD3 derive helper for AUTD3Sharp</Description>

diff --git a/example/cs/RemoteSOEM/RemoteSOEM.csproj b/example/cs/RemoteSOEM/RemoteSOEM.csproj
@@ -8,7 +8,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="AUTD3Sharp" Version="22.0.4" />
+    <PackageReference Include="AUTD3Sharp" Version="22.1.0" />
   </ItemGroup>
 
   <ItemGroup>

diff --git a/example/cs/RemoveTwinCAT/RemoveTwinCAT.csproj b/example/cs/RemoveTwinCAT/RemoveTwinCAT.csproj
@@ -9,7 +9,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="AUTD3Sharp" Version="22.0.4" />
+    <PackageReference Include="AUTD3Sharp" Version="22.1.0" />
   </ItemGroup>
 
   <ItemGroup>

diff --git a/example/cs/SOEM/SOEM.csproj b/example/cs/SOEM/SOEM.csproj
@@ -9,7 +9,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="AUTD3Sharp" Version="22.0.4" />
+    <PackageReference Include="AUTD3Sharp" Version="22.1.0" />
   </ItemGroup>
 
   <ItemGroup>

diff --git a/example/cs/Samples/Samples.csproj b/example/cs/Samples/Samples.csproj
@@ -20,7 +20,7 @@
   </ItemGroup>
 
   <ItemGroup>
-    <PackageReference Include="AUTD3Sharp" Version="22.0.4" />
+    <PackageReference Include="AUTD3Sharp" Version="22.1.0" />
   </ItemGroup>
 
 </Project>
diff --git a/example/cs/Simulator/Simulator.csproj b/example/cs/Simulator/Simulator.csproj
@@ -9,7 +9,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="AUTD3Sharp" Version="22.0.4" />
+    <PackageReference Include="AUTD3Sharp" Version="22.1.0" />
   </ItemGroup>
 
   <ItemGroup>

diff --git a/example/cs/TwinCAT/TwinCAT.csproj b/example/cs/TwinCAT/TwinCAT.csproj
@@ -9,7 +9,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="AUTD3Sharp" Version="22.0.4" />
+    <PackageReference Include="AUTD3Sharp" Version="22.1.0" />
   </ItemGroup>
 
   <ItemGroup>

diff --git a/example/fs/RemoteSOEM/RemoteSOEM.fsproj b/example/fs/RemoteSOEM/RemoteSOEM.fsproj
@@ -10,7 +10,7 @@
   </ItemGroup>
 
   <ItemGroup>
-    <PackageReference Include="AUTD3Sharp" Version="22.0.4" />
+    <PackageReference Include="AUTD3Sharp" Version="22.1.0" />
   </ItemGroup>
 
   <ItemGroup>

diff --git a/example/fs/RemoveTwinCAT/RemoveTwinCAT.fsproj b/example/fs/RemoveTwinCAT/RemoveTwinCAT.fsproj
@@ -10,7 +10,7 @@
   </ItemGroup>
 
   <ItemGroup>
-    <PackageReference Include="AUTD3Sharp" Version="22.0.4" />
+    <PackageReference Include="AUTD3Sharp" Version="22.1.0" />
   </ItemGroup>
 
   <ItemGroup>

diff --git a/example/fs/SOEM/SOEM.fsproj b/example/fs/SOEM/SOEM.fsproj
@@ -10,7 +10,7 @@
   </ItemGroup>
 
   <ItemGroup>
-    <PackageReference Include="AUTD3Sharp" Version="22.0.4" />
+    <PackageReference Include="AUTD3Sharp" Version="22.1.0" />
   </ItemGroup>
 
   <ItemGroup>

diff --git a/example/fs/Samples/Samples.fsproj b/example/fs/Samples/Samples.fsproj
@@ -24,7 +24,7 @@
   <ItemGroup />
 
   <ItemGroup>
-    <PackageReference Include="AUTD3Sharp" Version="22.0.4" />
+    <PackageReference Include="AUTD3Sharp" Version="22.1.0" />
   </ItemGroup>
 
 </Project>
diff --git a/example/fs/Simulator/Simulator.fsproj b/example/fs/Simulator/Simulator.fsproj
@@ -10,7 +10,7 @@
   </ItemGroup>
 
   <ItemGroup>
-    <PackageReference Include="AUTD3Sharp" Version="22.0.4" />
+    <PackageReference Include="AUTD3Sharp" Version="22.1.0" />
   </ItemGroup>
 
   <ItemGroup>

diff --git a/example/fs/TwinCAT/TwinCAT.fsproj b/example/fs/TwinCAT/TwinCAT.fsproj
@@ -10,7 +10,7 @@
   </ItemGroup>
 
   <ItemGroup>
-    <PackageReference Include="AUTD3Sharp" Version="22.0.4" />
+    <PackageReference Include="AUTD3Sharp" Version="22.1.0" />
   </ItemGroup>
 
   <ItemGroup>

diff --git a/src/AUTD3Sharp.csproj b/src/AUTD3Sharp.csproj
@@ -4,7 +4,7 @@
     <TargetFramework>netstandard2.1</TargetFramework>
     <Platforms>AnyCPU</Platforms>
     <GeneratePackageOnBuild>true</GeneratePackageOnBuild>
-    <Version>22.0.4</Version>
+    <Version>22.1.0</Version>
     <Authors>Shun Suzuki</Authors>
     <Company>Shinolab</Company>
     <Description>AUTD3 library wrapper for .Net</Description>

diff --git a/src/AUTD3Sharp.nuspec b/src/AUTD3Sharp.nuspec
@@ -11,7 +11,7 @@
     <dependencies>
       <group targetFramework=".NETStandard2.1">
         <dependency id="NETStandard.Library" version="2.0.3" exclude="Build,Analyzers" />
-        <dependency id="AUTD3Sharp.Derive" version="22.0.4" >
+        <dependency id="AUTD3Sharp.Derive" version="22.1.0" >
         	<OutputItemType>Analyzer</OutputItemType>
 			    <ReferenceOutputAssembly>false</ReferenceOutputAssembly>
         </dependency>

diff --git a/src/Driver/Datagram/Debug.cs b/src/Driver/Datagram/Debug.cs
@@ -1,37 +1,68 @@
-#if UNITY_2020_2_OR_NEWER
-#nullable enable
-#endif
-
 using AUTD3Sharp.NativeMethods;
 using AUTD3Sharp.Driver.Datagram;
 
 using System.Runtime.InteropServices;
 using System;
+using System.Linq;
 
 namespace AUTD3Sharp
 {
+    public class DebugType
+    {
+        internal byte _ty;
+        internal ushort _value;
+
+        private DebugType(byte ty, ushort value)
+        {
+            _ty = ty;
+            _value = value;
+        }
+
+        public static DebugType None() => new DebugType(0x00, 0x0000);
+        public static DebugType BaseSignal() => new DebugType(0x01, 0x0000);
+        public static DebugType Thermo() => new DebugType(0x02, 0x0000);
+        public static DebugType ForceFan() => new DebugType(0x03, 0x0000);
+        public static DebugType Sync() => new DebugType(0x10, 0x0000);
+        public static DebugType ModSegment() => new DebugType(0x20, 0x0000);
+        public static DebugType ModIdx(ushort idx) => new DebugType(0x21, idx);
+        public static DebugType StmSegment() => new DebugType(0x50, 0x0000);
+        public static DebugType StmIdx(ushort idx) => new DebugType(0x51, idx);
+        public static DebugType IsStmMode() => new DebugType(0x52, 0x0000);
+        public static DebugType PwmOut(Transducer tr) => new DebugType(0xE0, (ushort)tr.Idx);
+        public static DebugType Direct(bool v) => new DebugType(0xF0, v ? (ushort)0x0001 : (ushort)0x0000);
+    }
+
+
     /// <summary>
     /// Datagram to configure debug output
     /// </summary>
-    public sealed class ConfigureDebugOutputIdx : IDatagram
+    public sealed class ConfigureDebugSettings : IDatagram
     {
-        [UnmanagedFunctionPointer(CallingConvention.Cdecl)] public delegate byte DebugOutputDelegate(IntPtr context, GeometryPtr geometryPtr, uint devIdx);
+        [UnmanagedFunctionPointer(CallingConvention.Cdecl)] public delegate DebugSettings DebugSettingsDelegate(IntPtr context, GeometryPtr geometryPtr, uint devIdx);
 
-        private readonly DebugOutputDelegate _f;
+        private readonly DebugSettingsDelegate _f;
 
-        public ConfigureDebugOutputIdx(Func<Device, Transducer?> f)
+        public ConfigureDebugSettings(Func<Device, DebugType[]> f)
         {
             _f = (context, geometryPtr, devIdx) =>
             {
-                var tr = f(new Device((int)devIdx, NativeMethodsBase.AUTDDevice(geometryPtr, devIdx)));
-                return (byte)(tr?.Idx ?? 0xFF);
+                var v = f(new Device((int)devIdx, NativeMethodsBase.AUTDDevice(geometryPtr, devIdx)));
+                var res = new DebugSettings();
+                unsafe
+                {
+                    res.ty[0] = v[0]._ty;
+                    res.ty[1] = v[1]._ty;
+                    res.ty[2] = v[2]._ty;
+                    res.ty[3] = v[3]._ty;
+                    res.value[0] = v[0]._value;
+                    res.value[1] = v[1]._value;
+                    res.value[2] = v[2]._value;
+                    res.value[3] = v[3]._value;
+                }
+                return res;
             };
         }
 
-        DatagramPtr IDatagram.Ptr(Geometry geometry) => NativeMethodsBase.AUTDDatagramConfigureDebugOutputIdx(Marshal.GetFunctionPointerForDelegate(_f), IntPtr.Zero, geometry.Ptr);
+        DatagramPtr IDatagram.Ptr(Geometry geometry) => NativeMethodsBase.AUTDDatagramConfigureDebugSettings(Marshal.GetFunctionPointerForDelegate(_f), IntPtr.Zero, geometry.Ptr);
     }
 }
-
-#if UNITY_2020_2_OR_NEWER
-#nullable restore
-#endif
diff --git a/src/Gain/Holo/Constraint.cs b/src/Gain/Holo/Constraint.cs
@@ -54,7 +54,7 @@ public static EmissionConstraint Clamp(EmitIntensity min, EmitIntensity max) =>
         /// </summary>
         public static EmissionConstraint Clamp(byte min, byte max) => Clamp(new EmitIntensity(min), new EmitIntensity(max));
 
-        [ExcludeFromCodeCoverage] public override bool Equals(object? obj) => obj is EmissionConstraint other && Equals(other);
+        [ExcludeFromCodeCoverage] public readonly override bool Equals(object? obj) => obj is EmissionConstraint other && Equals(other);
         [ExcludeFromCodeCoverage] public readonly bool Equals(EmissionConstraint other) => NativeMethodsGainHolo.AUTDGainHoloConstraintEq(Ptr, other.Ptr);
         [ExcludeFromCodeCoverage] public readonly override int GetHashCode() => Ptr.GetHashCode();
         [ExcludeFromCodeCoverage] public static bool operator ==(EmissionConstraint lhs, EmissionConstraint rhs) => lhs.Equals(rhs);

diff --git a/src/Link/Audit.cs b/src/Link/Audit.cs
@@ -95,9 +95,26 @@ public bool SilencerFixedCompletionStepsMode(int idx)
             return NativeMethodsBase.AUTDLinkAuditFpgaSilencerFixedCompletionStepsMode(_ptr, (uint)idx);
         }
 
-        public byte DebugOutputIdx(int idx)
+        public byte[] DebugTypes(int idx)
         {
-            return NativeMethodsBase.AUTDLinkAuditFpgaDebugOutputIdx(_ptr, (uint)idx);
+            var ty = new byte[4];
+            unsafe
+            {
+                fixed (byte* p = &ty[0])
+                    NativeMethodsBase.AUTDLinkAuditFpgaDebugTypes(_ptr, (uint)idx, p);
+            }
+            return ty;
+        }
+
+        public ushort[] DebugValues(int idx)
+        {
+            var value = new ushort[4];
+            unsafe
+            {
+                fixed (ushort* p = &value[0])
+                    NativeMethodsBase.AUTDLinkAuditFpgaDebugValues(_ptr, (uint)idx, p);
+            }
+            return value;
         }
 
         public void AssertThermalSensor(int idx)

diff --git a/src/NativeMethods/Base.cs b/src/NativeMethods/Base.cs
@@ -19,8 +19,8 @@ public static unsafe partial class NativeMethodsBase
         [DllImport(__DllName, EntryPoint = "AUTDDatagramClear", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
         public static extern DatagramPtr AUTDDatagramClear();
 
-        [DllImport(__DllName, EntryPoint = "AUTDDatagramConfigureDebugOutputIdx", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
-        public static extern DatagramPtr AUTDDatagramConfigureDebugOutputIdx(IntPtr f, IntPtr context, GeometryPtr geometry);
+        [DllImport(__DllName, EntryPoint = "AUTDDatagramConfigureDebugSettings", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
+        public static extern DatagramPtr AUTDDatagramConfigureDebugSettings(IntPtr f, IntPtr context, GeometryPtr geometry);
 
         [DllImport(__DllName, EntryPoint = "AUTDDatagramConfigureForceFan", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
         public static extern DatagramPtr AUTDDatagramConfigureForceFan(IntPtr f, IntPtr context, GeometryPtr geometry);
@@ -287,8 +287,11 @@ public static unsafe partial class NativeMethodsBase
         [return: MarshalAs(UnmanagedType.U1)]
         public static extern bool AUTDLinkAuditFpgaSilencerFixedCompletionStepsMode(LinkPtr audit, uint idx);
 
-        [DllImport(__DllName, EntryPoint = "AUTDLinkAuditFpgaDebugOutputIdx", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
-        public static extern byte AUTDLinkAuditFpgaDebugOutputIdx(LinkPtr audit, uint idx);
+        [DllImport(__DllName, EntryPoint = "AUTDLinkAuditFpgaDebugTypes", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
+        public static extern void AUTDLinkAuditFpgaDebugTypes(LinkPtr audit, uint idx, byte* ty);
+
+        [DllImport(__DllName, EntryPoint = "AUTDLinkAuditFpgaDebugValues", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
+        public static extern void AUTDLinkAuditFpgaDebugValues(LinkPtr audit, uint idx, ushort* value);
 
         [DllImport(__DllName, EntryPoint = "AUTDLinkAuditFpgaStmFrequencyDivision", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
         public static extern uint AUTDLinkAuditFpgaStmFrequencyDivision(LinkPtr audit, Segment segment, uint idx);

diff --git a/src/NativeMethods/Def.cs b/src/NativeMethods/Def.cs
@@ -150,6 +150,13 @@ public unsafe partial struct ResultController
         public IntPtr err;
     }
 
+    [StructLayout(LayoutKind.Sequential)]
+    public unsafe partial struct DebugSettings
+    {
+        public fixed byte ty[4];
+        public fixed ushort value[4];
+    }
+
     [StructLayout(LayoutKind.Sequential)]
     public unsafe partial struct LinkBuilderPtr
     {