Changelog¶

0.6.0 2020-10-15

[Feature] #91: Implement additional commands for powering up/down hall sensors, and setting the open/closed loop. In the process, Positioner was cleaned and streamlined. Most functions now raise a PositionerError if they fail, instead of failing silently with a log message.
[Feature]: Allow to skip cogging calibration.
:support`-` Wrap message from CANNetBus in custom message class with additional __slots__. This fixes a deprecation introduced in python-can>=3.3.4.
[Bug]: Initialise FPS during upgrade-firmware. If the FPS is not initialised and a layout is not loaded there is no way for the upgrade script to know what positioners may be connected or their statuses.
[Bug]: Fix starting status server.
[Bug]: Do not pass context to actor commands.
[Support]: The default logging level for the console is not warning. In the CLI, the logging level can be adjusted using the -v flag. -v will set the logging level to INFO; -vv will set the level to DEBUG; -vvv will also set the CAN logging level to DEBUG.
[Support]: motor_steps and time_step are now defined in the configuration file under positioner.
[Support] #90: Remove the option to initialise datums in Positioner.
[Support]: Update sdss-drift to 0.1.5 to fix pymodbus import.
[Support]: Remove QA database features since they need a full rethink.
[Support] #89: Implement daemon.

[Feature]: Add actor command info to report the configuration file and version.
[Feature] #86: Allow to pass a custom configuration file in the CLI using the flag -c/--config.

[Feature] #75: Implement trajectories using SYNC line.
[Feature] #76: Implement calibration commands and routines.
[Feature] #51: Set up an asyncio exception handler and make the Poller use it if there is a problem with the callback.
[Feature] #62: Add a new Trajectory class as a low-level method to send trajectories.
[Bug] #72: (also #73) Fix UIDs not being returned to the pool in some cases, which emptied it after a while.
[Bug] #64: Fixed WAGO disconnects by increasing the timeout of the hardware.
[Support] #83: Use GitHub workflows.
[Support] #70: Better documentation for firmware update.
[Support] #21: (and several associated issues) Remove WAGO and use external drift library.
[Support]: Rename cli.py to __main__.py.
[Support] #61: Stop the positioners before existing if CLI receives a SIGINT, SIGTERM, or SIGHUP.
[Support]: Retrieve configuration from $SDSSCORE_DIR/configuration/actors/jaeger.yaml or from ~/.config/sdss/jaeger.yml.
[Support]: Adapt to using CLU>=0.2.0.
[Support] #68: Use sdsstools instead of core utilities. Some clean-up of the packaging files.
[Support] #67: Improve initialisation time by making sure all commands after the initial GET_FIRMWARE_VERSION know how many positioners are connected and don’t time out.

[Feature] #59: Add an engineering_mode flag to FPS (can be toogled using the jaeger --danger) flag to override most safety warnings for debugging.
Fix call to Positioner.goto from CLI.
Unless immediate=True is passed to Poller.set_delay, waits for the current task to finish.

[Feature] #56: Move time for go to moves is calculated and reported.
[Feature] #57: Added FPS.moving and Positioner.moving attributes to determine whether it is save to move the FPS.
Recognise and deal with CAN@net devices already in use.
Very significant rewrite of how messages and replies are matched. Now there is a pool of unique identifiers. Each message gets assigned a UID from the pool corresponding to its command_id and positioner_id. When a reply is received, it is matched based on command_id, positioner_id, and UID. At that point the UID is returned to the pool. Broadcast messages always receive the reserved UID=0. This means that two broadcast of the same command should not be running at the same time or replies could be misassigned.
send_trajectory now raises exceptions on error.
Significant clean-up of how pollers are used.
Support versions 04.00.XX and 04.01.XX of Tendo with PositionerStatusV4_0 and PositionerStatusV4_1 maskbits.

[Feature] #52: Add limits to goto.
[Feature] #54: Add firmware upgrade command to actor.
[Feature] #49: Positioner status and position polling is now done from the FPS instead of from each positioner.
[Feature] #13: Abort trajectory and lock the FPS if either a collided status is detected in a positioner or if command 18 is received from the CAN network.
[Feature] #46: Implement a QA database for moves.
[Bug] #53: Fix issues dealing with positioners that in the layout but not connected.
Fix bug due to use of unsigned integers when passing a negative position.
Add SetCurrent command to actor.

[Feature] #29: Output WAGO status on a timer.
[Feature] #37: Support power cycling a PLC.
[Feature] #40: Allow to instantiate an FPS without a WAGO connection.
[Feature] #12: Initial but fully functional implementation of TCP/IP actor.
[Feature] #24: (with #28) Initial implementation of WAGO PLCs and associated actor commands.
[Bug] #39: Use loop.create_task instead of asyncio.create_task in Poller, which seems to fix using jaeger in IPython.
Add is_bootloader to output of status command.
Modify jaeger CLI command to use async def and await.
Add command SetCurrent.
Change file layout to include a positioner ID.
[Support] #22: Moved some configuration parameters under positioner.

[Feature] #7: Poll CAN@net device for status.
[Feature] #9: Initial implementation of the CAN@net bus.
[Feature] #1: Added FPS.abort method to cancel all trajectories.
[Feature] #3: Add skip-error option to jaeger demo.
[Bug] #11: Fix endianess of firmware version.
Renamed interfaces -> profiles in configuration.
Added initial actor features.
Improved logging system.
Load layout when FPS is instantiated.
Expose Positioner.set_position as a public method.
[Bug] #2: Fix double setting of status when command times out.
First complete pass at the documentation.
Fixed bug that would raise an exception during initialisation if no positioner had replied to GET_STATUS.
Fixed bug in which the positions for SetActualPosition were being sent in degrees instead of in steps.
Added home command to jaeger CLI.

Basic framework.
Added FPS, JaegerCAN, and Positioner classes.
Implemented Command class and subclasses for all available commands.
Added maskbits based on the IntFlag enumeration.
Added several helpers (AsyncQueue, Poller, StatusMixIn)
Added utilities to convert from bytes to int and vice versa, and to build and parse identifiers.
Added convenience function to upgrade firmware.
Added CLI interface.
Initial documentation.