Testing with jaeger

class jaeger.testing.VirtualFPS(layout=None, **kwargs)[source]

Bases: jaeger.fps.FPS

A mock Focal Plane System for testing and development.

This class listens to the python-can virtual bus and responds as if real positioners were plugged into the system.

Parameters

  • layout (str) – The layout describing the position of the robots on the focal plane. If None, the default layout will be used. Can be either a layout name to be recovered from the database, or a file path to the layout configuration.

  • loop (event loop or None) – The asyncio event loop. If None, uses asyncio.get_event_loop to get a valid loop.

  • engineering_mode (bool) – If True, disables most safety checks to enable debugging. This may result in hardware damage so it must not be used lightly.

class jaeger.testing.VirtualPositioner(positioner_id, centre=None, position=(0.0, 0.0), speed=None, channel=None, loop=None, notifier=None, firmware='10.11.12')[source]

Bases: jaeger.utils.helpers.StatusMixIn

A virtual positioner that listen to CAN commands.

An object of VirtualPositioner represents a real positioner firmware. It knows it’s own state at any time and replies.

Parameters

  • positioner_id (int) – The ID of the positioner.

  • centre (tuple) – A tuple of two floats indicating where on the focal plane the positioner is located.

  • position (tuple) – A tuple of two floats indicating the angles of the alpha and beta arms.

  • speed (tuple) – A tuple of two float indicating the RPM on the input for alpha and beta.

  • channel (str) – The channel on which to listen to the virtual CAN bus. Defaults to jaeger.config['profiles']['virtual']['channel'].

  • loop – The event loop.

  • notifier (Notifier) – The python-can Notifier instance that informs of new messages in the bus.

  • firmware (str) – The firmware version, as a string with the format AB.CD.EF.

is_bootloader()[source]

Returns True if the positioner is in bootloader mode.

process_firmware_data(uid, data)[source]

Processes SEND_FIRMWARE_DATA commands.

async process_goto(message)[source]

Process an absolute or relative goto command.

async process_message()[source]

Processes incoming commands from the bus.

reset()[source]

Resets the positioner.

set_bootloader(bootloader=True)[source]

Sets the positioner in bootloader mode.

async shutdown()[source]

Stops the command queue.

_initial_status = 17384367873

The initial status of the positioner. Represents a positioner that is not moving and is fully calibrated.