Changelog¶

0.11.0 - October 12, 2021¶

🚀 New¶

#152 FVC IEB support and actor commands.
Add commands GET_HALL_CALIB_ERROR, GET_ALPHA_HALL_CALIB, and GET_BETA_HALL_CALIB for hall sensor calibration querying.
The actor status command now returns the number of trajectories executed.

✨ Improved¶

Add Trajectory.start_time and Trajectory.end_time that can be used to determine when the trajectory failed. send_trajectory now allows to return the unsent or non-started trajectory.
When running the actor as a daemon in detached mode, log stdout and stderr to file.
By default, do not fail when a command receives an UNKNOWN_COMMAND reply; this usually means that the positioner firmware does not support that command yet. This can be disabled by initialising the Command with ignore_unknown=False.
It’s now possible to switch the SYNC line relay (ieb switch sync). The SYNC line may be left closed if there’s an uncaught exception while it’s being actuated, or if the script is killed during that time. This allows to restore it to open.
TrajectoryError now includes the original Trajectory object as TrajectoryError.trajectory.
FPS.send_trajectory() now raises a TrajectoryError if it fails.
Better logging of the reason for failure in Trajectory. In particular, Trajectory.failed_positioners contains a dictionary with the reason why a give positioner failed to receive or execute the trajectory, if that information is known.

🔧 Fixed¶

Avoid clipping the current position to (0, 360) when calculating the trajectory in goto(). This prevents using goto() when the positioner is at a negative position.

0.10.0 - August 3, 2021¶

🚀 New¶

#149 Added an FPS.goto() method that sends a list of positioners to a given position using trajectories. By default Positioner.goto() now also uses trajectories, but GOTO_ABSOLUTE_POSITION can still be used.
#150 Allow to skip positioners that are connected to the bus but that we want to ignore. Also allow to disable collision detection for a list of positioners. See configuration options fps.skip_positioners and fps.disable_collision_detection_positioners.

✨ Improved¶

Trajectory() now sends data points using a single command per trajectory chunk.
Warn about individual replies that return without COMMAND_ACCEPTED.
Remove check for whether a positioner has started to move after sending the goto command. It sometimes produced false positives on very short moves.
Disable precise moves by default.
Improve reloading the FPS.
Remove bootloader commands from actor.
FPS.locked_by now reports what positioner id(s) locked the FPS on a collision.
Actor ieb fbi now accepts multiple devices.
Use coil space for IEB relays.
Use 8 message per positioner by default when upgrading the firmware.

🔧 Fixed¶

When sending multiple message per positioner per command, assign different UIDs.
Fix address of IEB RTD12.
Fix upgrade firmware script in the case of a single test sextant.
Turn off all sextants before upgrading the firmware.
Fixed and tested the power on and power off IEB sequences.

0.9.0 - July 18, 2021¶

🚀 New¶

#131 Breaking change. This version includes a major rewrite of the internals of Command and how it is used throughout jaeger. In addition to acception a single positioner_id, Command can now receive a list of positioners to command. When the command is awaited it will wait until all the positioners have replied or the command has timed out. For the most part this is equivalent to using the old FPS.send_to_all() which has now been deprecated, but with the advantage that a single Future is created. This seems to significantly decrease the overhead that asyncio introduces when creating and await many tasks. FPS.send_command() now also accepts a list of positioners, thus replacing send_to_all(). For the most part low level initialisation of commands, as long as they are used to address a single positioner, should not have changed. To address multiple positioners at once use send_command().
#127 Implemented positioner LED on/off commands.
#128 Deprecated the use of python-can buses since they block in a non-asynchronous way. This caused significant inefficiencies when controller >200 robots, especially on computers with old CPUs. This PR implements the major changes, including refacting JaegerCAN and FPS to initialise the buses asynchronously, and a reimplementation of CANNetBus, VirtualBus, and Notifier. This PR also includes some general performance gains such as a better implementation of parse_identifier.
#134 Added a new actor command reload that will reinitialise the FPS instance and reload any new robots after a sextant power cycle.
#142 Added an ieb info actor command to show information about the IEB layout to users.
#119 Allow to manually add and initialise a single positioner.

✨ Improved¶

#135 Cleaned up initialisation methods for JaegerCAN and FPS. Objects can now be instantiated and initialised at the same time using the async classmethod .create().
#141 The jaeger upgrade-firmware command will now upgrade the firmware of one sextant at a time to avoid powering on too many power supplies at the same time.
#124 Collisions are handled better. If a move command is running when the FPS is locked, the command is cancelled. Postioner.goto() and send_trajectory() now continuously check if the FPS has been locked during the move. If it is, they fail in a non-verbose way. FPS.send_trajectory() now logs an error but doesn’t raise an exception if the trajectory fails.

🧹 Cleaned¶

#129 Removed the use of the database and predefined layouts for the FPS. Default mode is that positioners are always auto-discovered.
#133 Completely removed the use of python-can. A conditional import is done for the slcan and socketcan interfaces for which python-can does need to be installed.
#130 Removed engineering mode.
#132 Merged JagerCAN._send_commands() and .send_to_interfaces() into JaegerCAN.send_commands(). Renamed FPS.send_command() synchronous parameter to now.

0.8.0 - June 21, 2021¶

🚀 New¶

#122 Precise moves can now be disabled for all positioners by setting the configuration parameter positioner.disable_precise_moves. Also implements the CAN commands SWITCH_[ON|OFF]_PRECISE_MOVE_[ALPHA|BETA].
New debug parameter in the configuration file. If it is false, some warnings will be silenced and JaegerCAN will not log to can.log.
#126 Use furo Sphinx theme. Add noxfile for sphinx-autobuild.

🔧 Fixed¶

Bug preventing the FPS from being initialised when upgrading the firmware if one was not power cycling the electronics from software.

✨ Improved¶

Improved the performance when upgrading the firmware. When calling load_firmware one can specify how many messages_per_positioner to send at once. Too many messages at once will overflow the buffer, but the right number can optimise performance. By default, logging to the CAN log will be suspended during the firmware upgrade to boost performance.

0.7.0 - May 24, 2021¶

🚀 New¶

#96 Raise error if sending a bootloader command while not in bootloader mode.
#109 Added JSON schema for the actor.
#97 Implement low temperature handling. When the air temperature is less than 0 degrees, the motor RPM is set to 3000. When the temperature is less than -10, the beta motor holding current is increased to 30%.
#15 Allow to disable a positioner. If the positioner is disabled, a non-safe command sent to the FPS will raise an error. In send_to_all, a broadcast will be only sent to the non-disabled positioners. Trajectories that include disabled positioners will fail.
#116 Safe mode to prevent the beta arm to go below 160 degrees.

✨ Improved¶

#121 Improve the use of the database to define the FPS layout.

🧹 Cleanup¶

#96 Discontinue the use of sdsscore. Improved the handling of user configuration files.
#95 Support Python 3.9.
Require drift>=0.2.2 to fix a bug in setting the relay values.
Stop using releases for the changelog and migrate to using CHANGELOG.md. Release information for previous version is available here.

The Pre-history¶

The changelog for previous version of jaeger is available here.