From bd63f2648ce291e1655fdb449c983b3e57a3e060 Mon Sep 17 00:00:00 2001
From: jens <jens.ahrensfeld@gmx.de>
Date: Tue, 19 Oct 2021 06:32:45 +0100
Subject: [PATCH] - refactored hendi_ctrl - fixed hend_heater - added
 workaround for typedDict and Python < v3.8

---
 components/actor/heater_hendi.py |  2 +-
 components/actor/hendiCtrl.py    |  9 ++++--
 config.json.sim                  | 55 ++++++++++++++++++++++++++++++++
 tracer.py                        |  6 +++-
 4 files changed, 67 insertions(+), 5 deletions(-)
 mode change 100644 => 100755 components/actor/heater_hendi.py
 mode change 100644 => 100755 components/actor/hendiCtrl.py
 create mode 100755 config.json.sim
 mode change 100644 => 100755 tracer.py

diff --git a/components/actor/heater_hendi.py b/components/actor/heater_hendi.py
old mode 100644
new mode 100755
index df96fa7..520021f
--- a/components/actor/heater_hendi.py
+++ b/components/actor/heater_hendi.py
@@ -18,7 +18,7 @@ class HeaterHendi(AHeater):
 
 	def get_powers(self):
 		caps = self.hendi.getCapabilties()
-		return [0].extend(caps['pwr_list'])
+		return [0] + caps['pwr_list']
 
 	def activate(self, enable):
 		if enable:
diff --git a/components/actor/hendiCtrl.py b/components/actor/hendiCtrl.py
old mode 100644
new mode 100755
index 0c2c194..aa3e39b
--- a/components/actor/hendiCtrl.py
+++ b/components/actor/hendiCtrl.py
@@ -22,8 +22,6 @@ class HendiCtrl:
 		powers = [500,  600,  700,  800,  900, 1000, 1100, 1200, 1300, 1400, 1500, 1600, 1700, 1800, 1900, 2000, 2100, 2200, 2300, 2400, 2500, 2600, 2700, 2800, 2900, 3000, 3100, 3200, 3300,3400, 3500]
 		digits = [4092, 3840, 3700, 3440, 3300, 3060, 3000, 2930, 2860, 2780, 2640, 2510, 2430, 2360, 2190, 2130, 2030, 1980, 1880, 1730, 1630, 1560, 1480, 1400, 1240, 1150, 1150, 1080, 920, 740, 670]
 		self.caps = {
-			"sw_id"				: self.getSoftwareIdentifier(),
-			"sw_ver"			: self.getSoftwareVersion(),
 			"pwr_watts_min"		: powers[0],
 			"pwr_watts_max"		: powers[-1],
 			"pwr_list"			: powers,
@@ -124,7 +122,8 @@ class HendiCtrl:
 
 	def getInfo(self):
 		result = {
-			'caps'			: self.caps,
+			"sw_id"			: self.getSoftwareIdentifier(),
+			"sw_ver"		: self.getSoftwareVersion(),
 			'state'			: self.getState(),
 			'pwr_digits'	: self.getPowerDigits(),
 			'Switch_state'	: self.getSwitch()
@@ -188,6 +187,10 @@ if __name__ == '__main__':
 	hendi.getState()
 	hendi.getSoftwareIdentifier()
 	hendi.getSoftwareVersion()
+	caps = hendi.getCapabilties()
+	print("Caps: ", caps)
+	info = hendi.getInfo()
+	print("Info: ", info)
 
 	print("Test converters")
 	for pwr in range(500, 3600, 100):
diff --git a/config.json.sim b/config.json.sim
new file mode 100755
index 0000000..5b6389c
--- /dev/null
+++ b/config.json.sim
@@ -0,0 +1,55 @@
+{
+	"Controller" : {
+	"dt": 0.1,
+	"sim_warp_factor": 10.0,
+	"stirrer_name": "sim",
+	"heater_name": "sim",
+	"sensor_name": "sim",
+	"plant_name": "sim",
+	"pid_type": "Smith"
+	},
+ 	"TempCtrl": {
+		"Model": {
+			"theta": 20,
+			"C": 4190,
+			"M": 25,
+			"L": 0.05,
+			"Td": 80,
+			"kn": 0.2
+		},
+		"Kalman": {
+			"var_P"	: 1.0,
+			"var_Q"	: 0.0001,
+			"var_R"	: 1.0
+		},
+		"Hold": {
+			"kp": 0.25,
+			"ki": 0.0,
+			"kd": 0.0,
+			"kt": 0.0
+		},
+		"Heat": {
+			"kp": 0.05,
+			"ki": 0.01,
+			"kd": 0.0,
+			"kt": 1.5
+		}
+	},
+	"Plant": {
+		"theta": 20,
+		"C": 4190,
+		"M": 22,
+		"L": 0.05,
+		"Td": 80,
+		"kn": 0.2
+	},
+	"Heater": {
+		"port": "/dev/ttyUSB0",
+		"speed": "115200"
+	},
+	"Stirrer": {
+		"port": "/dev/ttyACM0",
+		"speed": "115200"
+	}
+}
+
diff --git a/tracer.py b/tracer.py
old mode 100644
new mode 100755
index 58aad7a..920af16
--- a/tracer.py
+++ b/tracer.py
@@ -1,8 +1,12 @@
-from typing import TypedDict
 import numpy as np
 import scipy.io
 import os
+import sys
 import time
+if sys.version_info[0] == 3 and sys.version_info[1] >= 8:
+	from typing import TypedDict
+else:
+	from typing_extensions import TypedDict
 
 
 class Entry(TypedDict):