static void Scan(AUTD3Cnt autd, byte duty, PicoCnt pico, RobotController robo, Conditions cond, int devNumX, int devNumY, float z, bool compress = false)
{
var totalNum = devNumX * devNumY * 249;
var dataFolder = Utils.CreateFolderTimeStamped("individual");
Console.WriteLine($"Total Scan Points: {totalNum}");
Console.WriteLine($"Saved to {dataFolder}");
Console.WriteLine("Connect Ch. A to microphone. conditions are ...");
cond.Check();
cond.Save(dataFolder);
Console.WriteLine("Start Scanning...");
var transX = Enumerable.Range(0, 18);
var transY = Enumerable.Range(0, 14);
var devX = Enumerable.Range(0, devNumX).Select(x => x * 192f);
var devY = Enumerable.Range(0, devNumY).Select(y => y * 151.4f);
int devIdx = 0;
int idx = 0;
foreach (var(dx, dy) in Utils.Product(devX, devY))
{
var df = Path.Join(dataFolder, $"dev{devIdx}");
Directory.CreateDirectory(df);
foreach (var(tx, ty) in Utils.Product(transX, transY))
{
if (IsMissing(tx, ty))
{
continue;
}
autd.TransTest(idx, duty, 0);
Thread.Sleep(500);
var tf = Path.Join(df, $"tr{idx % 249}");
Directory.CreateDirectory(tf);
float x = dx + tx * 10.16f;
float y = dy + ty * 10.16f;
Console.Write("\r{0, 3:d0}/{1, 3:d0} ({2, 3:f0}%)", idx, totalNum, 100.0 * idx / totalNum);
robo.MoveTo(x, y, z);
Thread.Sleep(500);
pico.MeasureAndSave(true, Path.Join(tf, $"x{(tx * 10.16f):F3}y{(ty * 10.16f):F3}z{z:F3}"), compress);
autd.TransTest(idx, 0, 0);
idx++;
}
devIdx++;
}
Console.WriteLine();
}
static void Scan(AUTD3Cnt autd, PicoCnt pico, Conditions cond, string prefix, bool trig, Action <AUTD3Cnt, int> func, bool compress = false)
{
var dataFolder = Utils.CreateFolderTimeStamped(prefix);
cond.Save(dataFolder);
for (int i = 0; i <= byte.MaxValue; i++)
{
Console.Write("{0}: {1, 3:d0}/{2, 3:d0} ({3, 3:f0}%)", prefix, i, byte.MaxValue, 100.0 * i / byte.MaxValue);
Console.SetCursorPosition(0, Console.CursorTop);
func(autd, i);
Thread.Sleep(500);
pico.MeasureAndSave(trig, Path.Join(dataFolder, $"{prefix}{i}"), compress);
autd.TransTest(0, 0, 0);
Thread.Sleep(60 * 1000);
}
Console.WriteLine();
autd.Stop();
}
static void Scan(AUTD3Cnt autd, PicoCnt pico, (float, float, float) focus, IEnumerable <int> dutyies, string dataFolder, bool compress = false)
static void Main(string[] args)
{
int NUM_AUTD_X = 3;
int NUM_AUTD_Y = 3;
float W = 192f;
float H = 151.4f;
float xc = W * NUM_AUTD_X / 2f;
float yc = H * NUM_AUTD_Y / 2f;
float Z = 200;
var compress = true;
var cond = new Conditions()
{
SampleRateHz = 10_000_000,
SampleLen = 10_000,
Temp = 22.8f,
Humidity = 13f,
Amplifer = 10,
X = 0,
Y = 0,
Z = Z
};
using var robo = new RobotController();
if (!robo.Connect("172.16.99.57"))
{
Console.WriteLine("Failed to connect to robot.");
return;
}
robo.MoveTo(0, 0, Z);
using var pico = new PicoCnt();
pico.SetChannel(0, 50, 1, null);
pico.SetChannel(1, 5000, 10, 1000);
pico.SetCondition(cond);
using var autd = new AUTD3Cnt();
for (int y = 0; y < NUM_AUTD_Y; y++)
{
for (int x = 0; x < NUM_AUTD_X; x++)
{
autd.AddDevice(x * W, y * H, 0);
}
}
var ifname = AUTD3Cnt.GetIfname();
autd.Open(ifname);
autd.Clear();
autd.Calibrate();
autd.StaticMod(0xFF);
Scan(autd, 10, pico, robo, cond, NUM_AUTD_X, NUM_AUTD_Y, Z, compress);
Console.WriteLine("Finish.");
autd.Stop();
robo.Finish();
}
}
static void Main(string[] args)
{
using var robo = new RobotController();
if (!robo.Connect("172.16.99.57"))
{
Console.WriteLine("Failed to connect to robot.");
return;
}
robo.MoveTo(0, 0, 200);
using var pico = new PicoCnt();
using var autd = new AUTD3Cnt();
autd.AddDevice(0, 0, 0);
var ifname = AUTD3Cnt.GetIfname();
autd.Open(ifname);
autd.Clear();
autd.Calibrate();
autd.StaticMod(0xFF);
var compress = false;
var cond = new Conditions()
{
SampleRateHz = 2_000_000,
SampleLen = 2_000,
Temp = 23.0f,
Humidity = 19f,
Amplifer = 10,
X = 0,
Y = 0,
Z = 200
};
pico.SetChannel(0, 500, 1, null);
pico.SetCondition(cond);
Console.WriteLine("Connect Ch. A to microphone. conditions are ...");
cond.Check();
Scan(autd, pico, cond, "amp", false, (autd, i) => autd.TransTest(0, (byte)i, 0), compress);
cond.SampleRateHz = 10_000_000;
cond.SampleLen = 20000;
pico.SetChannel(0, 50000, 10, null);
pico.SetCondition(cond);
Console.WriteLine("Connect Ch. A to microphone. conditions are ...");
cond.Check();
Scan(autd, pico, cond, "input", false, (autd, i) => autd.TransTest(0, (byte)i, 0), compress);
pico.SetChannel(0, 500, 1, null);
pico.SetChannel(1, 5000, 10, 1000);
pico.SetCondition(cond);
Console.WriteLine("Connect Ch. A to microphone and Ch. B to 40kHz reference signal. conditions are ...");
cond.Check();
Scan(autd, pico, cond, "phase", true, (autd, i) => autd.TransTest(0, 0xFF, (byte)i), compress);
Console.WriteLine("Finish.");
robo.Finish();
}
}
