# jaeger
[](https://sdss-jaeger.readthedocs.io/en/latest/?badge=latest)
[](https://github.com/sdss/jaeger/actions)
[](https://codecov.io/gh/sdss/jaeger)
[jaeger](http://pacificrim.wikia.com/wiki/Jaeger>) provides high level control for the SDSS-V [Focal Plane System](https://wiki.sdss.org/display/FPS). Some of the features that jaeger provide are:
- Wraps the low level CAN commands for simpler use.
- Provides a framework that is independent of the CAN interface used (by using the [python-can](https://python-can.readthedocs.io/en/master/) library).
- Interfaces with [kaiju](https://github.com/sdss/kaiju) to provide anticollision path planning for trajectories.
- Implements status and position update loops.
- Provides implementations for commonly used tasks (e.g., go to position, send trajectory).
- Interfaces with the Instrument Electronics Box modbus PLC controller.
- Provides a TCP/IP interface to send commands and output keywords using the SDSS-standard formatting.
The code for jaeger is developed in [GitHub](https://github.com/sdss/jaeger) and can be installed using [sdss_install](https://github.com/sdss/sdss_install) or by running
```console
pip install --upgrade sdss-jaeger
```
To check out the development version do
```console
git clone https://github.com/sdss/jaeger.git
```
jaeger is developed as an [asyncio](https://docs.python.org/3/library/asyncio.html) library and a certain familiarity with asynchronous programming is required. The actor functionality (TCP/IP connection, command parser, inter-actor communication) is built on top of [CLU](https://github.com/sdss/clu).
## A simple jaeger program
```python
import asyncio
from jaeger import FPS, log
async def main():
# Set logging level to DEBUG
log.set_level(0)
# Initialise the FPS instance.
fps = FPS()
await fps.initialise()
# Print the status of positioner 4
print(fps[4].status)
# Send positioner 4 to alpha=90, beta=45
await pos.goto(alpha=90, beta=45)
# Cleanly finish all pending tasks and exit
await fps.shutdown()
asyncio.run(main())
```
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