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Controllers for the SDSS-V FPS

Project description

jaeger

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jaeger provides high level control for the SDSS-V Focal Plane System. Some of the features that jaeger provide are:

  • Wraps the low level CAN commands for simpler use.
  • Provides a framework that is independent of the CAN interface used (by using the python-can_ library).
  • Interfaces with kaiju_ to provide anticollision path planning for trajectories.
  • Implements status and position update loops.
  • Provides implementations for commonly used tasks (e.g., go to position, send trajectory).
  • Interfaces with the Instrument Electronics Box modbus PLC controller.
  • Provides a TCP/IP interface to send commands and output keywords using the SDSS-standard formatting.

The code for jaeger is developed in GitHub and can be installed using sdss_install or by running

pip install --upgrade sdss-jaeger

To check out the development version do

git clone https://github.com/sdss/jaeger.git

jaeger is developed as an asyncio library and a certain familiarity with asynchronous programming is required. The actor functionality (TCP/IP connection, command parser, inter-actor communication) is built on top of CLU.

A simple jaeger program

import asyncio
from jaeger import FPS, log

async def main():

    # Set logging level to DEBUG
    log.set_level(0)

    # Initialise the FPS instance.
    fps = FPS()
    await fps.initialise()

    # Print the status of positioner 4
    print(fps[4].status)

    # Send positioner 4 to alpha=90, beta=45
    await pos.goto(alpha=90, beta=45)

    # Cleanly finish all pending tasks and exit
    await fps.shutdown()

asyncio.run(main())

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