Changelog

1.6.3 - April 1, 2024

✨ Improved

• Add --extra-epoch-delay to jaeger configuration load and preload. This parameter adds an extra delay to the configuration epoch. It is mainly used by HAL when it preloads a design ahead of time

1.6.2 - February 27, 2024

🏷️ Changed

• Change LCO expected scale factors after IMB modifications.

1.6.1 - January 15, 2024

✨ Improved

• Reset cherno offsets when a design gets loaded.

• Use coordio 1.9.2 with sdss-sep.

🔧 Fixed

• Fix some warnings and retries during broadcasts when a robot has been marked offline.

• Fix future deprecation in Pandas by downcasting columns in the assignment fibre data.

• Fix docs builds.

1.6.0 - December 22, 2023

🔥 Breaking changes

• Deprecate Python 3.8.

🏷️ Changed

• Use sdsstools version of yanny.

🔧 Fixed

• Ensure that `fvc_image_path`` is populated.

1.5.0 - September 29, 2023

🚀 New

• #200 Save copy of confSummary files to $SDSSCORE_TEST_DIR, if present. For testing purposes only, for now.

• Modify default ZB orders passed to the FVC transformation and add flag --polids to jaeger fvc loop to manually set the orders.

• Increased timeout for jaeger configuration preload.

✨ Improved

• #199 Subtract FVC dark frame during FVC image processing.

• #200 Initial test to update files in sdsscore_test.

• #201 Move FVC dark frames to calibration folder where they won’t be deleted in the future.

• Updated call to coordio’s object_offset().

• Chiller: do not depend on IEB when setting absolute values.

🔧 Fixed

• If measured alpha vs reported alpha are on either side of the wrap at 360 deg, then adjust the offset for the FVC loop.

• Update IEB info before calling write_proc_image().

⚙️ Engineering

• Lint using ruff.

1.4.0 - April 15, 2023

🚀 New

• Allow to specify the wavelength to use for BOSS and APOGEE fibres when creating a configuration. Using jaeger configuration load --boss-wavelength or --apogee-wavelength will specify the wavelength to use for atmospheric refraction and affect the positioning of the fibre. The closest valid focal plane model is used in this case. Only assigned fibre of the specified fibre type are affected.

🏷️ Changed

• Changed the default value of the safety factor for the offset function to 1.

1.3.4 - April 12, 2023

🚀 New

• Add flag --offset-min-skybrightness to jaeger configuration load/preload to set the coordio.utils.offset_definition offset_min_skybrightness parameters. Defaults to 0.5.

🏷️ Changed

• Add a 3 minute timeout for jaeger configuration preload (normal configuration load does not time out).

• COS-103 Add locked_alpha and locked_beta keywords when a collision happens.

1.3.3 - January 15, 2023

✨ Improved

• Add a delay after STOP_TRAJECTORY or SEND_TRAJECTORY_ABORT. Those commands are issued with timeout=0 so they complete immediately. It seems that if one sends another command immediately after them the new command times out. It’s unclear if that happens because the replies from both commands clog the CAN buffer or because of some issue at the firmware level. Adding a 0.5 second delay to allow positioners to reply seems to fix the issue.

1.3.2 - January 10, 2023

🔧 Fixed

• Only retry FPS.update_firmware_version() if n_positioners is not None. Otherwise a time out is expected.

1.3.1 - January 10, 2023

✨ Improved

• #195 Prevent late replies to timed out commands to flood the log/actor window. The errors are now redirected only to the CAN log. Timed out commands are reported unless the command is a broadcast with the number of replies not defined.

• Increase timeout for FPS.update_status() and FPS.update_position() to 2 seconds.

• Allow FPS.update_position(), FPS.update_status() and FPS.update_firmware_version() to retry once if they time out.

1.3.0 - January 2, 2023

✨ Improved

• Trajectories now save the snapshot asynchronously, which should save a few seconds at the end of each trajectory.

• Avoids saving trajectory dump file multiple times.

• FVC proc- image is saved asynchronously and the command doesn’t wait for it to finish writing. The confSummaryF file is computed and saved asynchronously.

• plotFVCResults in coordio.transforms is monkeypatched to run as a task.

⚙️ Engineering

• Upgraded to Drift 1.0.0 which uses pymodbus 3.

1.2.1 - December 21, 2022

🔧 Fixed

• Require sdss-kaiju>=1.3.1 which solves a problem with a shapely dependency upgrade breaking some plotting.

1.2.0 - December 21, 2022

✨ Improved

• Output preloaded_is_cloned keyword indicating whether a preloaded design is cloned.

• Move the check for whether the FPS is moving before sending a new trajectory to Tracjectory.send() and after an FPS.update_status() has been issued, which may help with cases in which the FPS is stuck as moving because the status has not been updated.

🏷️ Changed

• Call cherno get-scale --max-age 3600.

• Changed max_cloned_time to 4500 and max_designs_epoch to 4 at both APO and LCO.

• Updated fudge factor at APO to 0.99988.

• Use zbplus2 as default for FVC centroiding at APO.

1.2.0b1 - November 7, 2022

🚀 New

• #193 Calculate delta_ra and delta_dec offsets using coordio’s object_offset.

✨ Improved

• jaeger fvc snapshot now creates a snapshot based on the FVC-measured positions and alerts if a robots is more than 5 degrees off.

🔧 Fixed

• Keep disabled positioners after a power cycle.

🏷️ Changed

• Use MDP2 for LCO.

1.1.1 - October 20, 2022

🔧 Fixed

• Require kaiju>=1.3.0, which is needed for MDP2 path planning.

1.1.0 - October 19, 2022 (yanked due to missing dependency; all changes available in 1.1.1)

🚀 New

• #191 Support for MDP path generation mode. The default mode can be set in the configuration file under kaiju.default_path_generator and overridden in jaeger configuration load and jaeger configuration random with the --path-generation-mode flag.

✨ Improved

• Add FVCITER keyword to the FVC process image header with the number of the FVC iteration.

🏷️ Changed

• IEB never disables itself automatically. Now it will try five times to connect to the WAGO module and if that fails it will issue an error but not self disable itself.

• Use 5 degrees as start angle during homing.

• Update disabled/enabled positioners at APO and LCO.

🔧 Fixed

• #189 Prevent FPS initialisation from failing if a positioner is reporting a collided status.

• Fix SJD calculation for LCO.

1.0.1 - September 11, 2022

🔧 Fixed

• Bumped minimum version of sdssdb to 0.5.5 since jaeger requires the Design.field property.

1.0.0 - September 10, 2022

✨ Improved

• #188 Chiller temperature and flow can now be set to a fixed value which is monitored and reset if necessary. Temperature can still be set to an “auto” mode that will maintain the set point slightly below the ambient temperature. The chiller set command now accepts auto, disable, or a value for either flow or temperature. The default values can be set in the configuration file under chiller.temperature (true for automatic mode, null to disable monitoring, or a fixed value) or chiller.flow (accepts null or a fixed value).

• Added --quiet flag to status that does not print the status of each robot.

• Added back jaeger configuration fake-field command.

• Fixed jaeger configuration slew command to work with lcotcc.

• Enabled additional alarms for LCO.

🏷️ Changed

• Reworked scale logic when loading a new design:

  • If a --scale flag is passed, that scale is passed directly to coordio without any additional fudge factor.

  • If the guider scale is available and use_guider_scale=True, the guider scale multiplied by the fudge factor is passed.

  • If use_guider_scale=True and the scale_temperature_coeffs are defined, and the guider scale is not available, the guider scale is defined by the scale-temperature correlation and the fudge factor is applied.

  • If use_guider_scale=False and --scale is not passed, or otherwise the guider scale cannot be defined, the default_scale value is used.

• Use targetdb.design_to_field table.

• Use difference centroiding methods for APO and LCO.

• Change various configuration parameters for LCO.

• Renamed kludge_factor and --kludge-factor to fudge_factor and --fudge-factor.

🔧 Fixed

• Alerts and chiller bots were not being started on init.

• Solve a case in which a manually disabled positioner could not be re-enabled after the FPS had been power cycled or reinitialised.

0.16.1 - June 10, 2022

🚀 New

• #183 The FVC.write_summaryF() method now also produces some histograms and quiver plots that show the FVC convergence in wok and ra/dec coordinates.

• #184 Added a jaeger.fvc.reprocess_configuration() coroutine that allows to reprocess the final FVC image for a configuration with a different centroid method.

• #185 Support for LCO and additional improvements:

  • General support for running jaeger at APO and LCO.

  • The jaeger and ieb configuration files have been split into _APO and _LCO.

  • Makes fvc loop more reliable. The proc- image is now saved in most conditions.

  • Use FVCTransformAPO or FVCTransformLCO depending on the observatory.

  • Fix fvc loop with --fbi-level 0.

  • Chiller and alerts bots are now run as part of the actor instead of in the FPS object. Alerts are now observatory-specific.

  • Do not calculate paths when using jaeger configuration load --from-positions.

  • Fix for #182: GFA alerts are disabled if the camera is powered off.

  • New home command to send GO_TO_DATUMS to multiple or all positioners at once.

• #186 New command fvc snapshot that creates a temporary configuration from the current positions and takes an FVC measurement.

• Add jaeger configuration reload command. It’s equivalent to using jaeger configuration load --no-clone DESIGNID where DESIGNID is the currently loaded design.

• If called without arguments, disable now outputs the list of currently disabled robots.

✨ Improved

• The list of manually disabled positioners is kept during reinitialisation.

🏷️ Changed

• Default FVC centroid algorithm is now zbplus.

🔧 Fixed

• #182 GFA alert for a camera is disabled if the camera is off.

• Bump sdssdb to ^0.5.2 to ensure that assignment_hash is available

0.16.0 - June 10, 2022

• Yanked due to error releasing.

0.15.1 - April 24, 2022

🔧 Fixed

• Pin pydl 1.0.0rc1 since rc2 has been yanked.

0.15.0 - April 21, 2022

🔥 Breaking changes

• Minimum Python version is now 3.8. Astropy 5 required.

🚀 New

• #180 A design can now be preloaded using jaeger configuration preload [DESIGNID]. If a design ID is not provied, the first element from the queue will be used. Preloading calculates the trajectories for the new configuration but does not write to the database, generate the configuration summary file, or output keywords. To make the preloaded design active, use jaeger configuration load --from-preloaded.

• #181 Automatically determine the epoch delay for a new configuration created from a design in the queue. If there are multiple consecutive designs in the queue with the same hash (i.e., that will be cloned), determines the epoch delay so that the array is reconfigured for the middle epoch of the observations.

• Added fvc_percent_reached and perc_95 keywords to the FVC loop to show the percentage of robots that have reached their positions (within the FVC tolerance) and the 95% percentile respectively.

• delta_ra and delta_dec from the database are now applied.

• Require coordio 1.3.0.

✨ Improved

• If a new configuration is loaded while the array is unfolded and jaeger configuration reverse is called, the reverse trajectory from the previous configuration will be used.

• Update coordinates using delta_ra and delta_dec from targetdb.carton_to_target.

• Introduced an empirical kludge factor for the guider scale that can be adjusted in the configuration file as configuration.scale_kludge_factor.

• Use reverse trajectory from previous configurations if the current one has not been executed.

• jaeger configuration reverse now accepts an --explode flag.

• FVC loops succeeds if fvc_perc_90 < 30.

• Add fvc_image_path to confSummaryF.

• Allow to home alpha and beta independently.

🔧 Fixed

• Fixed an issue in which the epoch RA/Dec in a configuration had the correctly propagated proper motions but those were not used for observed, field, etc. coordinates. Those coordinated derived in practice from the catalogue coordinates at the catalogue epoch.

0.14.0 - February 11, 2022

🚀 New

• #177 When jaeger configuration load is called with a design that has the same targets as the currently loaded (as it happens for multi-exposure fields), the existing configuration and metadata are copied but decollision is not run and new paths are not generated.

• #175 Added alert system.

• #176 Refine configuration focal plane scale using the guider measured scale.

• Addded a scale factor when loading a configuration.

• Allow to load a design from the queue.

✨ Improved

• #178 Major refactor of the chiller code.

• #179 Refactored FVC code to use coordIO’s FVCTransformAPO.

• Add jaeger, kaiju, and coordio versions to confSummary.

• Allow to disable chiller watcher.

• Store positioners in trajectory data file. Dump trajectory data even if trajectory fails.

🔧 Fixed

• jaeger status now won’t output additional information if the status of a single positioner is requested.

0.13.1 - January 7, 2022

🚀 New

• Added jaeger configuration slew command.

• Added chiller control.

• A keyword folded is updated after a trajectory indicating if the array is folded. In jaeger unwind, if the array is already folded (with a tolerance of 1 degree), it does nothing. jaeger unwind --status only reports the folded status.

• Report alive_at every 60 second.

• Add commands to enable and disable a positioner during runtime.

✨ Improved

• Check that the rotator is halted before exposing the FVC.

• Added wok coordinates to summary files.

• jaeger configuration load is now cancellable.

• Restore parent configuration when reversing a dithered configuration.

🔧 Fixed

• Increase optical_prov field in confSummary file to 30 characters.

0.13.0 - December 14, 2021

🚀 New

• #163 The to and from destination trajectories are saved when BaseConfiguration.decollide_and_get_paths() is called. The reverse path can be sent from the actor using configuration reverse. The paths can be generated in advance when loading the design. An --epoch-delay parameter can be passed when loading the design to create a configuration for some time in the future.

• #167 Add the ability of loading a configuration from the current positions of the robots.

• #169 Move ieb power and ieb switch to simply power.

• #173 Added DitheredConfiguration class.

✨ Improved

• #166 During BaseConfiguration.decollide_and_get_paths() the paths are decollided and deadlocks resolved while trying to maintain as many robots on target as possible. The fibre table is updated.

• #168 Functional version of design loading. Collisions are solved by first attempting to remove unassigned targets. Deadlock resolution uses the same logic as the random configuration creation. fiberId is not added to the summary file. Snapshots for each configuration are created.

• #172 The FVC centroids are now derotated according to the rotator angle, allowing to run the FVC loop at any rotator position.

• #174 Improved metadata handling in FVC loop.

• Snapshots are run in a process pool executor and are saved automatically at the end of a trajectory or when TrajectoryError is raised.

• jaeger.commands.goto.goto() generates kaiju-valid trajectories by default.

• FVC RMS fit only takes assigned robots into account.

• Added a check when loading a design to confirm that the design exists and is for the current observatory.

• Unassigned robots in a configuration as scrambled and are the first to be decollided.

🔧 Fixed

• #168 Fixed use of proper motions that were being applied as if the JD epoch was the Julian year.

🔥 Removed

• Positioner.goto() has been removed. Use jaeger.commands.goto.goto() instead.

0.12.0 - November 28, 2021

🚀 New

• Code to load robostrategy designs to targetdb and create configurations. Added actor commands to use kaiju to calculate and send a valid trajectory and to unwind, explode, and send a random configuration to the array.

• #153 Handling of low temperature now happens in FPS instead of in the actor. Added an FPS.status attribute with the global status of the system (idle, moving, collided, and temperature status). The actor subscribes to status changes using FPS.async_status() and broadcasts them.

• Add FPS.save_snapshot() along with actor command snapshot to use kaiju to save a plot with the current arrangement of the FPS array.

• Add a lockfile to prevent multiple instance of jaeger running at the same time. At the observatories, jaeger can only run on sdss5-fps.

• All functions that call CPU-intensive methods in kaiju are now run in a ProcessPool executor.

• FVC loop is now functional.

✨ Improved

• #157 Prevents clearing the collided flags when the array is stopped during a collision or when initialised. Issues SEND_TRAJECTORY_ABORT instead of STOP_TRAJECTORY. They both stop all the positioners but the former does not clear the collided status flags.

• Added additional checks to confirm that a trajectory starts correctly and succeeds. After one second, the code checks that the FPS is moving and that DISPLACEMENT_COMPLETED is not present on any positioner status. At the end of the trajectory a check confirms that all the positioners are within 0.1 degrees of their destinations.

• Add --no-gfas to the ieb power on command to avoid powering the GFAs during the power on sequence.

• Allows to call FVC.expose() without an active command by creating an ad-hoc Tron connection.

• FVC.expose() now can stack multiple exposures.

• Allows to use fibre_type other than ‘Metrology’ when processing an FVC image.

• Defaults to proc-<image> when calling FVC.write_proc_image().

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.