Configuration file#
jaeger uses an internal YAML file to store configuration values. The default configuration as of version 0.15.1 is:
---
actor:
name: jaeger
host: 0.0.0.0
port: 19990
verbose: 30
status:
port: 19991
delay: 5
tron_host: sdss5-hub
tron_port: 6093
models:
- fliswarm
ieb_status_delay: 60
schema: etc/schema.json
log_dir: /data/logs/actors/jaeger
profiles:
default: cannet
cannet:
interface: cannet
channels:
- sdss-cannet1
- sdss-cannet2
- sdss-cannet3
- sdss-cannet4
- sdss-cannet5
- sdss-cannet6
port: 19228
buses: [1, 2, 3, 4]
bitrate: 1000000
timeout: 1
status_interval: 5
slcan:
interface: slcan
channel: /dev/tty.usbserial-LW3HTDSY
ttyBaudrate: 1000000
bitrate: 1000000
virtual:
interface: virtual
channel: test1
fps:
use_database: true
allow_unknown: true
initialise_timeouts: 0.5
start_pollers: false
status_poller_delay: 5
position_poller_delay: 5
disabled_positioners: [54, 184, 463, 608, 1042, 1136, 1182]
offline_positioners: null
disable_collision_detection_positioners: []
use_sync_line: false
snapshot_path: /data/logs/jaeger/snapshots/
configuration_snapshot_path: /data/logs/jaeger/configuration_snapshots/
use_lock: True
ieb:
disabled_devices: ['GFA1', 'GFA6']
positioner:
reduction_ratio: 1024
motor_steps: 1073741824
time_step: 0.0005
motor_speed: 2000
initialise_datums_timeout: 300
disable_precise_moves: true
uid_bits: 6
trajectory_data_n_points: 3
firmware_messages_per_positioner: 8
trajectory_dump_path: /data/logs/jaeger/trajectories/
kaiju:
speed: 2
ang_step: 0.1
collision_buffer: 2.0
smooth_points: 13
collision_shrink: 0.08
path_delay: 1
epsilon_factor: 2
lattice_position: [10., 170.]
configuration:
scale_temperature_coeffs: [2.56190330e-06, -1.70492454e-05, 9.99647534e-01]
max_scale_age: 7200
clip_scale: 500
scale_kludge_factor: 0.99976
max_cloned_time: 7200
max_designs_epoch: 8
fvc:
exposure_time: 5.
fbi_level: 6.
target_90_percentile: 30.0
target_distance: 5
max_fvc_iterations: 2
k: 1.0
max_correction: 15
ieb_keys:
TEMPRTD2: rtd2
TEMPRTD3: rtd3
TEMPT3: t3
LED1: led1
LED2: led2
LED3: led3
LED4: led4
files:
log_dir: /data/logs/jaeger
ieb_config: etc/ieb.yaml
fvc_config: etc/fvc.yaml
chiller_config: etc/chiller.yaml
low_temperature:
sensor: RTD2
cold_threshold: 0
very_cold_threshold: -10
interval: 60
rpm_normal: 2000
rpm_cold: 1000
holding_torque_normal: [0, 30]
holding_torque_very_cold: [45, 30]
safe_mode:
min_beta: 160
max_beta: 180
debug: false
observatory: ${OBSERVATORY}
database:
dbname: sdss5db
host: null
port: 5433
alerts:
interval: 60
gfa:
warning: 30
critical: 35
shutdown: true
ieb:
sensor: RTD1
warning: 35
critical: 40
shutdown: true
robot:
sensor: RTD8
warning: 40
critical: 45
shutdown: true
flow:
sensor: FLOW1
critical: 0.1
temperature:
sensor_temp: T3
sensor_rh: RH3
dew_threshold: 3
chiller:
sensor_supply: RTD10
threshold: 1
When jaeger is imported the default configuration is loaded. It then looks for user configuration files in $SDSSCORE_DIR/configuration/$OBSERVATORY/actors/jaeger.yaml and ~/.config/sdss/jaeger.yaml (in that order). If found, the user file is used to update the default configuration. For example, a user file such as
# file: ~/.config/sdss/jaeger.yaml
profiles:
cannet:
interface: cannet
channels: [10.1.10.110]
port: 19228
buses: [1, 2, 3, 4]
bitrate: 1000000
will update the cannet profile while modifying the remaining parameters.
When running jaeger from the CLI, it is possible to pass a user configuration file by calling jaeger --config <CONFIG-FILE> .... If not provided, the configuration file discovery default to the above logic.
To prevent the beta arms to take a value below 160 degrees (the point at which collisions are possible if the folded mode is \(\beta=180\)) on can specify
safe_mode: true
And to define the minimum value of the beta arm
safe_mode:
min_beta: 170