{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Inheco Incubator Shaker\n",
    "\n",
    "The Inheco Incubator Shaker is a family of enclosed incubator devices with optional shaking, used for plate storage, temperature control, and orbital mixing.\n",
    "\n",
    "Multiple units can be stacked (up to 5 \"power credits\" per stack) and controlled through a single USB connection. All 4 variants share the same serial firmware and a single backend covers the entire family.\n",
    "\n",
    "| Model | PLR Name | Shaking | Plate Format | Power Credits |\n",
    "|---|---|---|---|---|\n",
    "| Incubator MP | `incubator_mp` | no | Microplate | 1.0 |\n",
    "| Incubator Shaker MP | `incubator_shaker_mp` | yes | Microplate | 1.6 |\n",
    "| Incubator DWP | `incubator_dwp` | no | Deepwell Plate | 1.25 |\n",
    "| Incubator Shaker DWP | `incubator_shaker_dwp` | yes | Deepwell Plate | 2.5 |\n",
    "\n",
    "See the [Inheco Incubator Shaker product page](https://www.inheco.com/incubator-shaker.html) for hardware specifications. Connect via USB-A/B (VID:PID `0403:6001`). Each stack requires one USB cable and one power cable to the bottom-most unit; units above connect to the unit below via 15-pin SUB-D connectors."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Setup\n",
    "\n",
    "Set the DIP switch on the back of the bottom-most unit to a unique 4-bit address (0--15). This address identifies the stack."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "from pylabrobot.legacy.storage.inheco import (\n",
    "  IncubatorShakerStack,\n",
    "  InhecoIncubatorShakerStackBackend,\n",
    ")\n",
    "\n",
    "backend = InhecoIncubatorShakerStackBackend(dip_switch_id=2)\n",
    "stack = IncubatorShakerStack(backend=backend)\n",
    "await stack.setup()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "The stack auto-discovers all connected units during `setup()`. Pass `verbose=True` to see serial port, DIP switch verification, and unit composition."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Addressing units\n",
    "\n",
    "Access individual units by index. The stack reports how many units are connected:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "stack.num_units  # e.g. 2"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "unit_0 = stack[0]\n",
    "unit_1 = stack[1]"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Loading tray\n",
    "\n",
    "Each unit has a motorized loading tray (drawer) for plate access:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "await stack[0].open()\n",
    "# ... load or unload plate ...\n",
    "await stack[0].close()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "# Check plate presence (reflection-based sensor)\n",
    "await stack[0].request_plate_in_incubator()  # returns True/False"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Temperature control"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "await stack[0].start_temperature_control(37)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "current = await stack[0].get_temperature()\n",
    "print(f\"{current:.1f} °C\")"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "The device has three independent temperature sensors (`\"main\"`, `\"dif\"`, `\"boost\"`). You can also read a geometric `\"mean\"` of all three:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "await stack[0].get_temperature(sensor=\"mean\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "# Block until temperature is reached\n",
    "await stack[0].wait_for_temperature(sensor=\"mean\", tolerance=0.2)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "await stack[0].stop_temperature_control()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Shaking\n",
    "\n",
    "Shaker models (MP Shaker and DWP Shaker) support programmable shaking patterns."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "# Orbital shaking at 800 rpm (default pattern)\n",
    "await stack[0].shake(rpm=800)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "await stack[0].stop_shaking()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Predefined shaking patterns:\n",
    "\n",
    "| Pattern | Description |\n",
    "|---|---|\n",
    "| `orbital` | Circular shaking (default) |\n",
    "| `elliptical` | Elliptical motion |\n",
    "| `figure_eight` | Figure-eight (Lissajous) motion |\n",
    "| `linear_x` | Linear motion along X |\n",
    "| `linear_y` | Linear motion along Y |"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "await stack[0].shake(pattern=\"figure_eight\", rpm=400)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "await stack[0].stop_shaking()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Stack-level commands\n",
    "\n",
    "The stack frontend provides master commands that apply to all units at once:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "# Open/close all loading trays\n",
    "await stack.open_all()\n",
    "await stack.close_all()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "# Temperature control for all units\n",
    "await stack.start_all_temperature_control(target_temperature=37)\n",
    "await stack.get_all_temperatures()  # {0: 37.1, 1: 36.8}\n",
    "await stack.stop_all_temperature_control()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "# Query states\n",
    "await stack.request_loading_tray_states()      # {0: 'closed', 1: 'closed'}\n",
    "await stack.request_temperature_control_states() # {0: False, 1: False}\n",
    "await stack.request_shaking_states()             # {0: False, 1: False}"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Multiple stacks\n",
    "\n",
    "When using more than one physical stack, pass the serial port explicitly to avoid ambiguity:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "backend_a = InhecoIncubatorShakerStackBackend(dip_switch_id=2, port=\"/dev/cu.usbserial-130\")\n",
    "stack_a = IncubatorShakerStack(backend=backend_a)\n",
    "await stack_a.setup()\n",
    "\n",
    "backend_b = InhecoIncubatorShakerStackBackend(dip_switch_id=7, port=\"/dev/cu.usbserial-42\")\n",
    "stack_b = IncubatorShakerStack(backend=backend_b)\n",
    "await stack_b.setup()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Teardown"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "await stack.stop()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "This stops all temperature control and shaking before disconnecting from the stack."
   ]
  }
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