Actor commands¶
The jaeger actor provides a TCP/IP interface to the jaeger functionality. jaeger uses CLU to provide the actor framework. Most actor commands are thin wrappers around the functionality provided by the jaeger API.
The following commands are available in the jaeger actor.
jaeger-actor¶
Usage
jaeger-actor [OPTIONS] COMMAND [ARGS]...
alerts¶
Manages the alerts system.
Usage
jaeger-actor alerts [OPTIONS] COMMAND [ARGS]...
reset¶
Clears all the alerts. Needed after certain alerts have been raised.
Usage
jaeger-actor alerts reset [OPTIONS]
status¶
Shows the status of the alerts.
Usage
jaeger-actor alerts status [OPTIONS]
calibrations¶
Commands to command the FVC.
Usage
jaeger-actor calibrations [OPTIONS] COMMAND [ARGS]...
reset-offsets¶
Sets the positions of a robot to its current (alpha,beta) + offsets.
Reads the positionerTable data for each positioner and resets it position to the current alpha and beta plus the offsets. As it does so, it zeroes the values for alphaOffset and betaOffset in the positionerTable.
If called without a list of positioners, resets all positioners.
Usage
jaeger-actor calibrations reset-offsets [OPTIONS] [POSITIONER_IDS]...
Options
- --take-fvc-images¶
Take FVC images before and after flashing new positions and checks that the wok positions have not changed.
Arguments
- POSITIONER_IDS¶
Optional argument(s)
can¶
Allows to connect/disconnect the CAN interfaces.
Usage
jaeger-actor can [OPTIONS] COMMAND [ARGS]...
connect¶
Connect the CAN interfaces.
Usage
jaeger-actor can connect [OPTIONS]
disconnect¶
Connect the CAN interfaces.
Usage
jaeger-actor can disconnect [OPTIONS]
chiller¶
Shows the status and controlls the chiller.
Usage
jaeger-actor chiller [OPTIONS] COMMAND [ARGS]...
disable¶
Disables the chiller watcher.
Usage
jaeger-actor chiller disable [OPTIONS]
set¶
Shows the temperature or flow of the chiller.
The value of the chiller temperature or flow can be set to auto, disable, or a fixed numerical value.
Usage
jaeger-actor chiller set [OPTIONS] {temperature|flow} VALUE
Arguments
- MODE¶
Required argument
- VALUE¶
Required argument
status¶
Shows the status of the chiller.
Usage
jaeger-actor chiller status [OPTIONS]
configuration¶
Allows to load a configuration, ingest it to the database, and execute it.
Usage
jaeger-actor configuration [OPTIONS] COMMAND [ARGS]...
clone¶
Clones a configuration.
Usage
jaeger-actor configuration clone [OPTIONS]
dither¶
Dither a loaded configuration.
Usage
jaeger-actor configuration dither [OPTIONS] RADIUS
Options
- --epoch <epoch>¶
Epoch to use for the dithered configuration. With ‘inherit’, the parent configuration epoch is used; ‘now’ uses the current time. Otherwise provide a JD.
Arguments
- RADIUS¶
Required argument
execute¶
Executes a configuration trajectory (folded to targets).
Usage
jaeger-actor configuration execute [OPTIONS]
fake-field¶
Output a fake field.
Usage
jaeger-actor configuration fake-field [OPTIONS] RA DEC PA
Arguments
- RA¶
Required argument
- DEC¶
Required argument
- PA¶
Required argument
load¶
Creates and ingests a configuration from a design in the database.
Usage
jaeger-actor configuration load [OPTIONS] [DESIGNID]
Options
- --reload¶
If the design is currently loaded, creates a new configuration.
- --replace¶
Replace an existing entry.
- --generate-paths, --no-generate-paths¶
Generates and stores the to and from destination paths.
- --epoch <epoch>¶
Epoch at which to create the configuration, as a Julian Day.
- --epoch-delay <epoch_delay>¶
A delay in seconds for the epoch for which the configuration is calculated.
- --extra-epoch-delay <extra_epoch_delay>¶
A delay in seconds to be added on top of the –epoch-delay. This is mainly used by HAL when it preloads a design ahead of time..
- --boss-wavelength <boss_wavelength>¶
Optimise positioning of BOSS fibres to this wavelength.
- --apogee-wavelength <apogee_wavelength>¶
Optimise positioning of APOGEE fibres to this wavelength.
- --from-positions¶
Loads a configuration from the current robot positions.
- --from-preloaded¶
Finishes loading a preloaded configuration.
- --ingest, --no-ingest¶
Whether to ingest the configuration into the DB.
- --write-summary, --no-write-summary¶
Whether to write the summary file for the configuration. Ignored if –no-ingest.
- --execute, --no-execute¶
Send and start the from_destination trajectory.
- --reissue¶
Only reissue the configuration_loaded keyword.
- --scale <scale>¶
Focal plane scale factor. If not passed, uses coordio default.
- --fudge-factor <fudge_factor>¶
Modify the default scale fudge factor.
- --no-clone¶
If the new design has the same target set as the currently loaded one, does not clone the configuration and instead loads the new design.
- --path-generation-mode <path_generation_mode>¶
The path generation algorithm to use.
- Options:
greedy | mdp
- --safety-factor <safety_factor>¶
Safety factor to pass to the offset calculation function.
- --offset-min-skybrightness <offset_min_skybrightness>¶
Minimum sky brightness for the offset.
- --stop¶
Stops the execution of the command.
Arguments
- DESIGNID¶
Optional argument
preload¶
Preloads a design.
Preloading a design works similar to loading it, but no files are generated, no database entry is created, no configuration_loaded keyword is output, and the new configuration is stored separately. To make the preloaded configuration active either pass the –make-active flag or run jaeger configuration load –from-preloaded.
Usage
jaeger-actor configuration preload [OPTIONS] [DESIGNID]
Options
- --epoch <epoch>¶
Epoch at which to create the configuration, as a Julian Day.
- --epoch-delay <epoch_delay>¶
A delay in seconds for the epoch for which the configuration is calculated.
- --extra-epoch-delay <extra_epoch_delay>¶
A delay in seconds to be added on top of the –epoch-delay. This is mainly used by HAL when it preloads a design ahead of time..
- --boss-wavelength <boss_wavelength>¶
Optimise positioning of BOSS fibres to this wavelength.
- --apogee-wavelength <apogee_wavelength>¶
Optimise positioning of APOGEE fibres to this wavelength.
- --scale <scale>¶
Focal plane scale factor. If not passes, uses coordio default.
- --fudge-factor <fudge_factor>¶
Modify the default scale fudge factor.
- --no-clone¶
If the new design has the same target set as the currently loaded one, does not clone the configuration and instead loads the new design.
- --make-active¶
Loads the configuration after preloading.
- --clear¶
Clears the preloaded configuration.
- --safety-factor <safety_factor>¶
Safety factor to pass to the offset calculation function.
- --offset-min-skybrightness <offset_min_skybrightness>¶
Minimum sky brightness for the offset.
- --stop¶
Stops the execution of the command.
Arguments
- DESIGNID¶
Optional argument
random¶
Executes a random, valid configuration.
Usage
jaeger-actor configuration random [OPTIONS] [SEED]
Options
- --danger¶
Use full range of alpha and beta.
- --sea-anemone¶
Points robots radially outward…with a touch of randomness
- --uniform <uniform>¶
Comma-separated alpha and beta ranges.
- --collision-buffer <collision_buffer>¶
Custom collision buffer
- --send-trajectory, --no-send-trajectory¶
Send the trajectory to the FPS.
- --max-retries <max_retries>¶
Home many retries to allow due to deadlocks.
- --path-generation-mode <path_generation_mode>¶
The path generation algorithm to use.
- Options:
greedy | mdp
Arguments
- SEED¶
Optional argument
reload¶
Reloads the current configuration.
This is equivalent to using jaeger configuration load –no-clone DESIGNID where DESIGNID is the currently loaded design.
Usage
jaeger-actor configuration reload [OPTIONS]
reverse¶
Executes a reverse trajectory (targets to folded).
Usage
jaeger-actor configuration reverse [OPTIONS]
Options
- --explode¶
Explode before reversing.
slew¶
Slews to the field centre of a configuration.
Optionally pass the position angle of the rotator in DEGREES.
Usage
jaeger-actor configuration slew [OPTIONS] [POSITION_ANGLE]
Arguments
- POSITION_ANGLE¶
Optional argument
current¶
Sets the current of the positioner.
Usage
jaeger-actor current [OPTIONS] [POSITIONER_ID]... ALPHA BETA
Options
- -a, --all¶
applies to all connected positioners.
Arguments
- POSITIONER_ID¶
Optional argument(s)
- ALPHA¶
Required argument
- BETA¶
Required argument
debug¶
Debug and engineering tools.
Usage
jaeger-actor debug [OPTIONS] COMMAND [ARGS]...
info¶
Reports information about the system.
Usage
jaeger-actor debug info [OPTIONS]
disable¶
Disables a positioner
Usage
jaeger-actor disable [OPTIONS] [POSITIONER_IDS]...
Arguments
- POSITIONER_IDS¶
Optional argument(s)
enable¶
Enables a positioner
Usage
jaeger-actor enable [OPTIONS] POSITIONER_ID
Arguments
- POSITIONER_ID¶
Required argument
explode¶
Explodes the FPS.
Usage
jaeger-actor explode [OPTIONS] EXPLODE_DEG
Options
- --one <one>¶
Only explode this positioner.
Arguments
- EXPLODE_DEG¶
Required argument
fvc¶
Commands to command the FVC.
Usage
jaeger-actor fvc [OPTIONS] COMMAND [ARGS]...
camera¶
Turns camera on/off.
Usage
jaeger-actor fvc camera [OPTIONS] {on|off}
Arguments
- MODE¶
Required argument
expose¶
Takes an exposure with the FVC.
Usage
jaeger-actor fvc expose [OPTIONS] [EXPOSURE_TIME]
Arguments
- EXPOSURE_TIME¶
Optional argument
led¶
Sets the level of the FVC LED.
Usage
jaeger-actor fvc led [OPTIONS] LEVEL
Arguments
- LEVEL¶
Required argument
loop¶
Executes the FVC correction loop.
This routine will turn the FBI LEDs on, take FVC exposures, process them, calculate the offset correction and applies them. Loops until the desided convergence is achieved.
Usage
jaeger-actor fvc loop [OPTIONS]
Options
- --exposure-time <exposure_time>¶
Exposure time.
- --fbi-level <fbi_level>¶
FBI LED levels.
- --one¶
Only runs one FVC correction iteration.
- --max-iterations <max_iterations>¶
Maximum number of iterations.
- --stack <stack>¶
Number of FVC image to stack.
- --plot, --no-plot¶
Generate and save plots.
- --apply, --no-apply¶
Apply corrections.
- -m, --max-correction <max_correction>¶
Maximum correction allowed, in degrees.
- --target-90-percentile <target_90_percentile>¶
90% percentile target, in microns, at which to stop iterating.
- -k <k>¶
Proportional term of the correction.
- --centroid-method <centroid_method>¶
The centroid method used to extract sources.
- Options:
nudge | simple | winpos | sep | zbplus | zbplus2 | zbminus
- --use-invkin, --no-use-invkin¶
Use new inverse kinnematics.
- --polids <polids>¶
Comma-separated ZB orders to use for the FVC transformation.
- --rotator-reference-angle <rotator_reference_angle>¶
Rotator reference position for fiducial fitting.
- --no-write-summary¶
Does not try to write a confSummaryF file.
- --stop¶
Stops the execution of the command.
nuc¶
Turns NUC on/off.
Usage
jaeger-actor fvc nuc [OPTIONS] {on|off}
Arguments
- MODE¶
Required argument
snapshot¶
Takes an FPS snapshot with the FVC. Roughly equivalent to fvc loop –no-apply.
Usage
jaeger-actor fvc snapshot [OPTIONS]
status¶
Reports the status of the FVC.
Usage
jaeger-actor fvc status [OPTIONS]
get-command-model¶
Returns a dictionary representation of the command using unclick.
Usage
jaeger-actor get-command-model [OPTIONS] [COMMAND_NAME]
Arguments
- COMMAND_NAME¶
Optional argument
get_schema¶
Returns the schema of the actor as a JSON schema.
Usage
jaeger-actor get_schema [OPTIONS]
goto¶
Sends positioners to a given (alpha, beta) position.
Usage
jaeger-actor goto [OPTIONS] [POSITIONER_IDS]... [ALPHA] [BETA]
Options
- -l, --from-file <from_file>¶
Loads the trajectory from a JSON trajectory file. Unless –go-cowboy is used only the end points of the trajectories for each positioner are used.
- -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.
- --use-sync, -no-use-sync, -S¶
Whether to use the SYNC line to start the trajectory.
- --go-cowboy¶
If set, does not use kaiju-validated trajectories.
Arguments
- POSITIONER_IDS¶
Optional argument(s)
- ALPHA¶
Optional argument
- BETA¶
Optional argument
hall¶
Turns the hall sensor on/off.
Usage
jaeger-actor hall [OPTIONS] COMMAND [ARGS]...
off¶
Turns the hall sensor off.
Usage
jaeger-actor hall off [OPTIONS] [POSITIONER_ID]...
Arguments
- POSITIONER_ID¶
Optional argument(s)
on¶
Turns the hall sensor on.
Usage
jaeger-actor hall on [OPTIONS] [POSITIONER_ID]...
Arguments
- POSITIONER_ID¶
Optional argument(s)
help¶
Shows the help.
Usage
jaeger-actor help [OPTIONS] [PARSER_COMMAND]
Arguments
- PARSER_COMMAND¶
Optional argument
home¶
Re-homes positioner datums in bulk.
Usage
jaeger-actor home [OPTIONS] {alpha|beta} [POSITIONER_IDS]...
Options
- --start-angle <start_angle>¶
Angle from which to start the calibration.
- Default:
5.0
- --skip-phase-1¶
Do not run phase 1.
- -d, --dry-run¶
Execute trajectories but do not home the robots.
Arguments
- AXIS¶
Required argument
- POSITIONER_IDS¶
Optional argument(s)
ieb¶
Manages the IEB.
Usage
jaeger-actor ieb [OPTIONS] COMMAND [ARGS]...
disable¶
Disables the IEB.
Usage
jaeger-actor ieb disable [OPTIONS]
enable¶
Re-enables the IEB.
Usage
jaeger-actor ieb enable [OPTIONS]
fbi¶
Control the power output (0-100%) of the fibre back illuminator (FBI).
Usage
jaeger-actor ieb fbi [OPTIONS] DEVICES VALUE
Arguments
- DEVICES¶
Optional argument(s)
- VALUE¶
Required argument
info¶
Shows information about the IEB layout in a human-readable format.
Usage
jaeger-actor ieb info [OPTIONS]
Options
- -v, --verbose¶
Shows extra information.
status¶
Outputs the status of the devices.
Usage
jaeger-actor ieb status [OPTIONS]
initialise¶
Initialises positioners.
Usage
jaeger-actor initialise [OPTIONS] [POSITIONER_ID]...
Options
- --datums¶
If set, initialises the datums.
Arguments
- POSITIONER_ID¶
Optional argument(s)
keyword¶
Prints human-readable information about a keyword.
Usage
jaeger-actor keyword [OPTIONS] KEYWORD
Arguments
- KEYWORD¶
Required argument
led¶
Turns the positioner LED on/off.
Usage
jaeger-actor led [OPTIONS] COMMAND [ARGS]...
off¶
Turns the LED off.
Usage
jaeger-actor led off [OPTIONS] [POSITIONER_ID]...
Arguments
- POSITIONER_ID¶
Optional argument(s)
on¶
Turns the LED on.
Usage
jaeger-actor led on [OPTIONS] [POSITIONER_ID]...
Arguments
- POSITIONER_ID¶
Optional argument(s)
ping¶
Pings the actor.
Usage
jaeger-actor ping [OPTIONS]
pollers¶
Handle the positioner pollers.
Usage
jaeger-actor pollers [OPTIONS] COMMAND [ARGS]...
list¶
Lists available pollers.
Usage
jaeger-actor pollers list [OPTIONS]
start¶
Start pollers.
Usage
jaeger-actor pollers start [OPTIONS] [POLLER]
Arguments
- POLLER¶
Optional argument
stop¶
Stop pollers.
Usage
jaeger-actor pollers stop [OPTIONS] [POLLER]
Arguments
- POLLER¶
Optional argument
power¶
Runs the power on/off sequences and powers individual devices.
Usage
jaeger-actor power [OPTIONS] COMMAND [ARGS]...
off¶
Powers off all the FPS IEB components or a specific device.
Usage
jaeger-actor power off [OPTIONS] [DEVICES]...
Options
- --nucs¶
Also power down NUCs
- --delay <delay>¶
When powering multiple devices, the delay to wait between them.
Arguments
- DEVICES¶
Optional argument(s)
on¶
Powers on all the FPS IEB components or a specific device.
Usage
jaeger-actor power on [OPTIONS] [DEVICES]...
Options
- --gfas¶
Power on the GFAs.
- --delay <delay>¶
When powering multiple devices, the delay to wait between them.
- --force¶
Forces a device to turn on/off even if disabled.
Arguments
- DEVICES¶
Optional argument(s)
reload¶
Reinitialise the FPS.
Usage
jaeger-actor reload [OPTIONS]
set-collision-margin¶
Change the collision margin. The collision margin must be -30 to 30 degrees.
Usage
jaeger-actor set-collision-margin [OPTIONS] MARGIN
Options
- -p, --positioners <positioners>¶
Comma-separated positioners to which to apply the margin. If not set, applies to all the positioners.
Arguments
- MARGIN¶
Required argument
snapshot¶
Takes a snapshot image.
Usage
jaeger-actor snapshot [OPTIONS] [PATH]
Arguments
- PATH¶
Optional argument
speed¶
Sets the (alpha, beta) speed in RPM on the input.
Usage
jaeger-actor speed [OPTIONS] [POSITIONER_ID]... ALPHA BETA
Options
- -a, --all¶
applies to all valid positioners.
Arguments
- POSITIONER_ID¶
Optional argument(s)
- ALPHA¶
Required argument
- BETA¶
Required argument
status¶
Reports the position and status bit of a list of positioners.
Usage
jaeger-actor status [OPTIONS] [POSITIONERS]...
Options
- -q, --quiet¶
Do not print the status of each positioner.
Arguments
- POSITIONERS¶
Optional argument(s)
stop¶
Stops the positioners and clear flags.
Usage
jaeger-actor stop [OPTIONS]
talk¶
Send a direct command to the CAN network and show the replies.
Usage
jaeger-actor talk [OPTIONS] COMMAND_ID POSITIONER_ID [PARAMS]...
Arguments
- COMMAND_ID¶
Required argument
- POSITIONER_ID¶
Required argument
- PARAMS¶
Optional argument(s)
testing¶
Commands for testing. Use with caution.
Usage
jaeger-actor testing [OPTIONS] COMMAND [ARGS]...
fake-configuration¶
Outputs the configuration_loaded keyword for a given field.
Usage
jaeger-actor testing fake-configuration [OPTIONS] RA DEC [PA]
Arguments
- RA¶
Required argument
- DEC¶
Required argument
- PA¶
Optional argument
trajectory¶
Sends a trajectory from a file.
Usage
jaeger-actor trajectory [OPTIONS] PATH
Arguments
- PATH¶
Required argument
unlock¶
Unlocks the FPS.
Usage
jaeger-actor unlock [OPTIONS]
unwind¶
Sends the FPS to folded.
Usage
jaeger-actor unwind [OPTIONS]
Options
- --collision-buffer <collision_buffer>¶
Custom collision buffer
- --force¶
Execute unwind even in presence of deadlocks.
- --status¶
Checks if the array is folded.
version¶
Returns the versions used.
Usage
jaeger-actor version [OPTIONS]