Transcript Formation TANGO

TANGO
A CORBA based Control system for SOLEIL
and ESRF accelerators and beamlines
IBA presentation : February 2004
Agenda
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ESRF: Upgrading control system after 10 years
SOLEIL: presentation
Our control systems requirements
Tango : main concepts
Tango history and state of development
Strengths of TANGO
– On the Controls point of view
– On the Software engineering point of view
• Conclusion
IBA presentation : February 2004
modernizing ESRF control system
• 6GeV synchrotron radiation
source
• Continuous operation since
1993
• 40 beamlines
• 5500 hours of user beam
time per year
• 96.8% of beam availability
for users
IBA presentation : February 2004
modernizing ESRF control system
• Design in the early 1990s
• VME technology running OS/9 and UNIX
workstations
• TACO : Distributed Objects (C + RPC)
• GUIs with X11 and Motif toolkit
• Independent sub-systems around the control
system kernel (data cache, archiving, etc.)
IBA presentation : February 2004
Motivation
• PC hardware dominates the market and
industrial control systems
• New operating systems dominate the market
• New programming languages have appeared
• Internet is becoming a driving force.
Innovation
Everything is subject to change
- Leonardo da Vinci
- Buddha
IBA presentation : February 2004
Motivation
• VME overtaken by PC technology on the
industrial market
• OS/9 frozen in 1996 -> replacement needed
• Java and Web technologies did not integrate
easily into our C programming framework.
• Avoid an uncontrolled modernization process
• Be modern for another 10 years
IBA presentation : February 2004
The Front End Layer
1993
2003
Ethernet 10Mbps-shared Ethernet 100Mbps-switched
VME
cPCI and PCI
Dedicated Controller
OS/9
Linux and Windows
• Replacement of 70 % of our VME front ends
• Upgrade of the remaining 30% from OS/9 to Linux
• Increasing number of intelligent controllers on the
network.
IBA presentation : February 2004
TANGO
TACO
RPC
C
Core contains:
Server API
Client API
Database Service
Test Applications
IBA presentation : February 2004
TANGO
CORBA
C++, Java and Python
Core contains:
Server API (multi language)
Client API (multi language)
Database Service + Application
Administration Service + Application
Logging Service + Application
Event Service
Application Toolkit
Code Generator + Application
Generic Applications
SOLEIL
IBA presentation : February 2004
Soleil’s objectives
SOLEIL : a 3rd
generation Synchrotron
• An extremely brilliant Light Source:
– A 2.75 GeV (machine) device,
stable beam, long periods of time : 30 hours.
– light wavelengths from infrared to X-rays
micrometric X and VUV beams coherent on tens of µm.
• An multidisciplinary research tool with many applications in
fundamental and applied research :
– physics, chemistry, new materials, nanotechnologies,
environmental science, biology, medicine.
• But also … a tool for industry and its applications
IBA presentation : February 2004
SOLEIL: Provisional schedule
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Phase 1 (2002 to 2005) :
construction of the device and of the first 10 beamlines ( 5 of
which transferred from LURE)
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Phase 2 (2006 to 2009) :
operation of the first 10 beamlines and construction of 14
additional lines with progressive start of operation
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Phase 3 (from the end of 2009) :
operation of 24 beamlines with one or two experimental
devices per beamline
2500 users per year (25 % foreigners)
WHAT IS SOLEIL ? Organization
IBA presentation : February 2004
SOL/DIR/COM/IS/TR/REP/1120/37
control system
requirements
IBA presentation : February 2004
Control/command problematics at SOLEIL
• Implement:
– 1 control system for accelerators: LINAC, ring, Booster
– 1 control system for every beamline
– Need to exchange information between those different
systems, using a common language
As a whole, at least
25 different control
systems
IBA presentation : February 2004
Distributed systems: SOLEIL example for
Machine Control
The system components are geographically distributed on machines
interconnected by a computing network:
–More than 100 Compact PCI frontend
–More than 100 PLC
–Dozens of operator stations
IBA presentation : February 2004
Heterogeneous systems on hardware and
software levels
• Slow industrial systems: PLC
• Fast acquisition systems : CPCI, …
• Ready to use systems:
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LINAC control/command
Control software sold with equipments (Residual gas analyzers,
SCIENTA analyzers, …)
• Heterogeneous operating systems
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Scientific applications under Linux
Drivers/libraries under WIN32 or under Linux
• Of course, the list of equipments is not known at the
beginning of the project
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So we need to keep things opened
How to obtain a coherent whole from heterogeneous
hardware and software?
IBA presentation : February 2004
Technical functions
Control System framework
• Distributed communications between software entities
– Commands
– Messages: errors, alarms, exchange of data
• Communications
– Synchronous, asynchronous
– Event driven
• A relational database containing the static description of
the whole system
• An historical database holding Machine measurements
• Tools:
– Administration of the CS itself (startup, config, acces control, …)
– Operator interfaces, Alarm handler, archive data displayer,…
IBA presentation : February 2004
Requirements on operation side
• No logical barriers
– An access to all machine parameters from a set of supported software
environments: Labview, MATLAB, C++, java, scripting languages,…
• No material barriers
– The CS must be not dependent of underlying hardware, networks or
Operating Systems
• glue between all software components of SOLEIL
– Integration of software written by Machine and operation staffs
– Integration of sub-systems (personnel safety system,building management
system, COTS (Commercial-Off-The-Shelf) components …)
– It implies a standardization of the writing of software applications
• The ease of use is a key factor
– The CS must hide technical complexity of a distributed system
• As parts of software will be written by Machine people
IBA presentation : February 2004
Our vision of a Control System
• « A control system is a sea of networked
objects; every part of the control system
should be a network object whatever it is a
low-level, high-level or application-oriented
function »
• How to make all these objects communicate ?
Beginning of 1980’s
TCP sockets
End of 1980’s
Remote Procedure Calls
Mid 1990
CORBA
IBA presentation : February 2004
Control system: first choices
Control system
• CORBA technology : as software cornerstone
TANGO
to ensure communications between distributed
objects in a transparent way
CORBA
• TANGO: as control-oriented CORBA framework
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an evolution of TACO, the ESRF original control system
Device
Device Device Device
Device
Device
Control System
Device
Device
IBA presentation : February 2004
Device
Device
Device Device
Tango :
main concepts
IBA presentation : February 2004
Tango : A software bus
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Analogy with an electronical bus because:
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Each card plugged on the bus has a wellidentified function
Each card is not or hardly coupled to the
others
Development of each card can be decoupled
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But each card must respect a strict
and well-defined interface in order to
connect to the bus
TANGO software Bus
Device
interface
Hardware
Board
IBA presentation : February 2004
(motor…)
An example of a Device Interface
: A motor
• The Interface :
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describes what the Device is
supposed to do
It’s only a promise of the
services you may expect from
the Device
• But there isn’t any magic !!!
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Code has to be written to fullfill
the promised services
MOTOR:
Commands:
- GoForward()…
Attributes:
- Speed (R/W)…
Hardware
control code
Hardware
IBA presentation : February 2004
Interface
Tango provides much more than just the bus !!!
High level « ready to
use » applications
Configuration Monitoring
Logging
Archiving
User applications
Synoptic
applications
Bus bus
Logiciel
TANGO
Software
TANGO
TANGO Devices
Device
Hardware
IBA presentation : February 2004
Device
Hardware
User’s development
environments
MATLAB, IGOR,
python, Labview
Ready to use
jive : configure TANGO
control system
Pogo : define TANGO Interface a
Device and generate html
documentation
IBA presentation : February 2004
DeviceTree/ATK Panel : interact
and monitor Devices
•LogViewer : Visualise, filter and
analyse messages emitted by
Devices
TANGO Application ToolKit
ATK Applications
ATK Widget
ATK Core
JLoox
Java Swing &
Graphics2D
Tango Client API
CORBA (jacorb)
Network
ATK Architecture
IBA presentation : February 2004
Scalar Viewers / Editors
IBA presentation : February 2004
Spectrum Viewers / Editors
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fr.esrf.tangoatk.widget.attribute. Trend (override JLChart)
- Tango attributes can be set by addAtrribute()
- A configuration file can be loaded directly by loadSetting()
- A configuration string can be passed by setSetting()
IBA presentation : February 2004
Number Image Viewers
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fr.esrf.tangoatk.widget.attribute. NumberImageViewer
- Tango attribute is set by setModel()
- Supports: Line profile , Histogram , Best Fit , Additional marker , Colormap ,
Table view , zoom and 16Bits EDF file format.
IBA presentation : February 2004
Synoptic Viewers
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fr.esrf.tangoatk.widget.jloox. SynopticFileViewer
- Vector synoptic viewer based on JLoox (Commercial software)
- Integrated in ATK
Synoptic already used at ESRF by ID14
IBA presentation : February 2004
Sample Applications
• Meteor Panel
tangopanels.jar: fr.tango.tangopanels.classpanels.ccd.Meteor (source can be found on sourceforge)
IBA presentation : February 2004
Tango state of development
IBA presentation : February 2004
TANGO : APIs and platforms
• APIs/Programming languages
– C++
– Java
– Python
Clients AND
Servers
• User environments (only client):
– Matlab
– Igor Pro
– LabView
Clients
• Operating systems
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– Linux
– Windows NT/2000/XP
– Sun-Solaris, HP UX
GNU Project on sourceforge
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http://sourceforge.net/projects/tango-cs
The ESRF site reference
– http://www.esrf.fr/computing/cs/tango/index.html
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The SOLEIL site reference
– http://www-controle.synchrotron-soleil.fr:8001/
IBA presentation : February 2004
ESRF-SOLEIL-Elletra Collaboration
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First Software Development Plan defined in April 2002
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New Software development plan wrote in January 2004
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Cooperation Agreement in the Field of Control-Software for
Accelerators and Beamlines:
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Technical coordinators and regular meetings
Equal contributions from all parties
Intellectual properties and licensing policy (GNU)
Software plan:
• Short-term developments to add essential missing
features
• Middle-term ones
officially firmed the 20th of June 2002
• 10 meetings have been held between both institutes to
enhance TANGO
• Elettra has joined the collaboration till end of 2003
IBA presentation : February 2004
Strengths of
TANGO
IBA presentation : February 2004
Tango a solution for new Controls
issues
• Controls trends
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Less and less direct connection to HW (Digital or Analog I/O)
Link to Hardware is very often done through Software links
• API & libraries
• Third parties systems
Tango is a very good Software glue to
face these new integration challenges
IBA presentation : February 2004
Tango is simple
• Tango is a simple system
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Because concepts are easy to understand
A tool to generate DeviceServers helps developpers
CORBA subtilities are completely hidden
For people coming from « C –programming » world :
• Short learning curve
• They can focus on their application, as TANGO adds very few
complexity
• Elletra’s feedback is interesting as they are newcomers in the
project
IBA presentation : February 2004
Tango : a software component philosophy
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Allowing to share developments between Controls systems
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Decouples High level applications and HW Controls
 the software can therefore be developed by different people
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Can be reused in different Controls System
Can be used by another Device
A device is a « Software Component » per se
Transfert Line 1 Controls system
TANGO Control System
Device
TANGO Motion
Device
Hardware
LUCIA Controls system
TANGO Control System
PROXIMA Controls Systems
Device
Hardware
TANGO Control System
TANGO Motion
Device
Monochromator
Device
Device
Device
Hardware
IBA presentation : February 2004
Conclusion on
TANGO
IBA presentation : February 2004
Tango in one picture
Ready-to-use
High-level Applications
ConfigurationMonitoring
Logging
environments
Users
environments:
Utilisateurs:
MATLAB, IGOR,
python, Labview
Archivage
Archiving
Bindings
TANGO
Bus Logiciel
Software
TANGO
Bus
The bus and Devices
development tools
Device
Device
Hardware
Hardware
(E/S…)
IBA presentation : February 2004
(motor…)
An open source solution for distributed control
• TANGO is a modern control system based on CORBA
• Tango is a good base for facing new Controls issues
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because it is based on modern technologies : C++, java, python
• A Strong commitment of the funding institutes
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Because TANGO is their software tool for developing all their
Controls and Acquisitions applications
• TANGO has a roadmap for :
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the immediate future
Mid term future
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IBA ? , CEA institute
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Efforts are done to organise this parallel activities between
institutes (SourceForge projects)
And to share feedback between TANGO’s users
• The TANGO collaboration is expanding:
• We are working on a Collaborative development model
–
IBA presentation : February 2004
Annexe : To
know more on
TANGO
IBA presentation : February 2004
What is a Device ?
IBA presentation : February 2004
TANGO: device: definition
• device = 1 <entity> to control
– Hardware or software
– «physical» device / «logical» device
• device = 1 polymorphous object
– 1 equipement (ex: 1 power supply)
– 1 collection of equipment (ex: 1 motor + 1 coder)
– 1 cluster of devices :
• a monochromator
• a complete subsystem (a LINAC !)
– A pure software component : A scan server for instance
IBA presentation : February 2004
Commands
•Generics commands
•Specifics commands
IBA presentation : February 2004
TANGO: device: interface: command
• Has a communication interface
– interface = commands + attributes
• commands  actions
• attributes  physical units
TANGO Software Bus
Interface
Commands
Attributes
Generics
Specifics
Generics
Specifics
Init
State
Status
PowerOn
PowerOff
-
current
Hardware control code
IBA presentation : February 2004
TANGO: device: interface: command
• Generic commands exist for EVERY Device
– Ping, Init, State, etc …
• Specific commands
– Are defined by the Device developer
– have : 0 or 1 in argument (argin)
– give : 0 or 1 out argument (argout)
• argin & argout = 1 of the 20 TANGO types
• Execution :
– launch the command_inout function with the following arguments :
• command name
• In parameter of the command
• Output:
– result of command execution
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Exemple Python :
>> motor_phi.command_inout(“AxisBackward")
>> motor_phi.command_inout(“GoToPosition“,100)
IBA presentation : February 2004
Attributes
IBA presentation : February 2004
TANGO: device: interface
• Has a communication interface
– interface = commands + attributes
• commands  actions
• attributes  physical units
TANGO Software Bus
Interface
Attributes
Commands
Generics
Specifics
Generics
Specifics
Init
State
Status
PowerOn
PowerOff
-
current
Hardware control code
IBA presentation : February 2004
TANGO: device
interface: attribute
• Definition
– Physical unit produced or administrated by the device
– ex: motor position, power emitted by a power supply, …
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Format : from 0 to 2 dimensions
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SCALAR
SPECTRUM (i.e. vector)
IMAGE (i.e. matrix)
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DEV_SHORT, DEV_LONG, DEV_DOUBLE
Type
scalar, spectrum or image
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scalar only
DEV_STRING
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•
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Accessibility
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READ
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read-only access
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write-only access
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Read-and-write only access
set values vs actual value
WRITE
READ_WRITE
IBA presentation : February 2004
TANGO: device: interface: attribute
• Obtain/modify the current value of an attribute?
– Prog. Env. OO (C++, Java, Python)
• dev.read_attribute(s) (attr_name_list)
• dev.write_attribute(s) (attr_name_list)
• Python Example:
>>
>>
>>
>>
x = mouse.read_attribute ("positionX")
print x.value
x.value=100
mouse.write_attribute (x)
IBA presentation : February 2004
State
IBA presentation : February 2004
TANGO: device: state
• Tango internally manages a state
Machine
• Each Device has an associated state
– Device behavior = fonction (internal state)
• query -> internal state-> execute or error
• internal status generated by the device
developer
– 14 predefined status
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•
•
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ON, OFF, CLOSE, OPEN,
INSERT, EXTRACT, MOVING,
STANDBY, FAULT, INIT, RUNNING,
ALARM, DISABLE, UNKNOWN
• a color code defined by Tango is associated to
each status
IBA presentation : February 2004
- Part III High-level
applications
IBA presentation : February 2004
Configuration: needs
ID Unique
ens-[seg]/dom/elem.1
myDevice
Commands
Attributes
Statuses
ens-[seg]/dom/elem.3
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Properties
Needs
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–
IBA presentation : February 2004
ens-[seg]/dom/elem.2
several of them
Define equipments present in the experiment
Control/Command system
Parameterize equipments
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Parameters linked to the Hardware (GPIB
address, etc.. )
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Min and max attributes values
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Alarm thresholds
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Etc
Configuration: database (static)
• Configuration database
– Critical element of the system
– unique source of information for devices and clients
• Implementation
– 1 dedicated device = TANGO interface of a SGBD
– The TANGO_HOST environment variable = host_name:host_port (ex:
localhost:20000) defines the static database that is used
TANGO Software Bus
1 dedicated TANGO device = TANGO interface
of a SGBD
Configuration
1 information storage medium: 1 computing
database
IBA presentation : February 2004
Configuration: tool
Jive
Graphical Application
for TANGO control
system
IBA presentation : February 2004
Supervision: needs
• Needs
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–
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Interact with equipments directly
Have an overview of the status of each equipment
Monitor the evolution of any Device attribute
• DeviceTree/ATK Panel
• Generic applications to
design and customize your
graphical interfaces,
displaying, for a set of
equipments
IBA presentation : February 2004
Supervision: tool
– Custom Java Applications :
• Using TANGO ATK library which provides Java
GUI widgets which manage refresh of values,
errors, connexion issues
IBA presentation : February 2004
Logging: tool
•
LogViewer
Visualise, filter and
analyse errors and
informations, emitted in
« real time » by the
different Devices of the
control system
IBA presentation : February 2004
ARCHIVING
Attribut Voltage
Device PoweSupply
:
Archiving
TimeStamp
Valeur
22-04-2003 : 15h 23mn 12 s
22-04-2003 : 15h 23mn 22 s
22-04-2003 : 15h 23mn 32 s
22-04-2003 : 15h 23mn 42 s
236
354
374
374
Historical database
Archiving
TANGO Software Bus
• Record attributes values:
–
Device
Following specific criteria (frequency or other), the archiving
system is supposed to memorize the values of any attribute of
any Device of the control system.
• Extract values
•
–
From client applications like a MATLAB application
From “ready-to-use” MAMBO application
IBA presentation : February 2004
Developper tool
E2 : POGO : Code generation
• Define TANGO Interface
a Device with a graphical
tool
• Generate html
documentation of the
Device
IBA presentation : February 2004