Command Line Interface#
jaeger provides a command line interface that can be accessed via the jaeger
command. The following options are available and can be queried by running jaeger --help
.
jaeger#
CLI for the SDSS-V focal plane system.
If called without subcommand starts the actor.
jaeger [OPTIONS] COMMAND [ARGS]...
Options
- -c, --config <config_file>#
Path to the user configuration file.
- -p, --profile <profile>#
The bus interface profile.
- --virtual#
Runs a virtual FPS with virtual positioners. Same as –profile=virtual.
- -n, --npositioners <npositioners>#
How many virtual positioners must be connected to the virtual FPS.
- -v, --verbose#
Debug mode. Use additional v for more details.
- -q, --quiet#
Disable all console logging.
- --ieb, --no-ieb#
Does not connect to the IEB.
- -s, --sextant#
Use engineering sextant instead of IEB. Modifies the internal configuration file.
- --allow-host#
Allows running jager in a host other than sdss5-fps.
- --no-lock#
Do not use the lock file, or ignore it if present.
actor#
Runs the actor.
jaeger actor [OPTIONS] COMMAND [ARGS]...
Options
- --no-tron#
Does not connect to Tron.
calibrate#
Runs a full calibration on a positioner.
jaeger calibrate [OPTIONS] POSITIONER_ID
Options
- --motors, --no-motors#
Run the motor calibration.
- --datums, --no-datums#
Run the datum calibration.
- --cogging, --no-cogging#
Run the cogging calibration (can take a long time).
Arguments
- POSITIONER_ID#
Required argument
demo#
Moves a robot to random positions.
jaeger demo [OPTIONS] POSITIONER
Options
- -n, --moves <moves>#
Number of moves to perform. Otherwise runs forever.
- --alpha <alpha>#
Range of alpha positions.
- Default
0, 360
- --beta <beta>#
Range of beta positions.
- Default
0, 180
- --speed <speed>#
Range of speed.
- Default
500, 1500
- -f, --skip-errors#
If an error occurs, ignores it and commands another move.
Arguments
- POSITIONER#
Required argument
explode#
Explodes the array.
jaeger explode [OPTIONS] EXPLODE_DEG
Options
- --one <one>#
Only explode this positioner.
Arguments
- EXPLODE_DEG#
Required argument
goto#
Sends positioners to a given (alpha, beta) position.
jaeger goto [OPTIONS] [POSITIONER_IDS]... ALPHA BETA
Options
- -r, --relative#
Whether this is a relative move
- -s, --speed <speed>#
The speed for both alpha and beta arms, in RPS on the input.
- -a, --all#
Applies to all valid positioners.
- -f, --force#
Forces a move to happen.
- --go-cowboy#
If set, does not use kaiju-validated trajectories.
- --use-sync, -no-use-sync, -S#
Whether to use the SYNC line to start the trajectory.
Arguments
- POSITIONER_IDS#
Optional argument(s)
- ALPHA#
Required argument
- BETA#
Required argument
set-positions#
Sets the position of the alpha and beta arms.
jaeger set-positions [OPTIONS] POSITIONER ALPHA BETA
Arguments
- POSITIONER#
Required argument
- ALPHA#
Required argument
- BETA#
Required argument
snapshot#
Takes a snapshot image.
jaeger snapshot [OPTIONS] [PATH]
Options
- --collision-buffer <collision_buffer>#
The collision buffer.
Arguments
- PATH#
Optional argument
status#
Returns the status of a positioner with low-level initialisation.
jaeger status [OPTIONS] POSITIONER
Arguments
- POSITIONER#
Required argument
unwind#
Unwinds the array.
jaeger unwind [OPTIONS]
Options
- --collision-buffer <collision_buffer>#
Custom collision buffer
- --force#
Execute unwind even in presence of deadlocks.
upgrade-firmware#
Upgrades the firmaware.
jaeger upgrade-firmware [OPTIONS] FIRMWARE_FILE [SEXTANTS]...
Options
- -y, --yes#
Do not ask for confirmation.
- -f, --force#
Forces skipping of invalid positioners
- -p, --positioners <positioners>#
Comma-separated positioners to upgrade
- -n, --no-cycle#
Does not power cycle positioners before upgrading each sextant
- -o, --all-on#
Powers on all sextants after a successful upgrade.
Arguments
- FIRMWARE_FILE#
Required argument
- SEXTANTS#
Optional argument(s)