Training TANGO

Users Session
04.02.2003

TANGO : introduction

A computing tool
dedicated to the
implementation of
distributed systems,
heterogeneous and
oriented control/commande
(switch)

TANGO : introduction
Distributed Systems ?
The system components are geographically
distributed on machines connected through a
computing network

Heterogeneous Systems ?
A coherent whole made from heterogeneous
hardwares and softwares

oriented Systems ctrl/command ?

Services adapted to a control system (storage,
logging, alarms, )

TANGO : introduction

How does TANGO solve the

contraints of activity
distribution and of
interoperability (interaction)
of the heterogeneous
components ?

TANGO : introduction
Machine B

Machine A

Application
3

Application
1

L
?
SE1

Application
2

Application
4

?
SE2

TANGO : introduction
Machine B

Machine A

Application
3

Application
1

L
Application
2

Application
4

SE1

SE2

TANGO : introduction
Machine B

Machine A

Application
3

Application
1

L
Application
2

Application
4

SE1

SE2

TANGO : introduction
Machine B

Machine A

Application
3

Application
1

L
Application
2

Application
4

SE1

SE2

TANGO : introduction
Machine B

Machine A

Application
3

Application
1

L
Application
2

Application
4

SE1

SE2

TANGO : introduction
Distributed
Application

TANGO : introduction

TANGO : introduction

TANGO : introduction

TANGO : introduction

TANGO : introduction

TANGO : introduction

CORBA
(Common

Object Request Broker

Architecture)

A standard tool in charge of the communications between

software components making up distributed and
heterogeneous applications

TANGO : introduction
CORBA = 1 generic tool
support to the development of distributed applications
A powerful but cumbersome tool
No functionalities ctrl/cmd oriented

Control System

CORBA

TANGO : introduction
a framework CORBA ctrl/cmd oriented
A toolbox to implement the system
A specialization of CORBA adapted to the needs

Control System
TANGO
Framework
CORBA
CORBA
CORBA

TANGO : introduction
Unifier kernel (core) of the system
Overall consistency

TANGO : introduction
S

Interface

C
Application Logic

Control Systm
SOLEIL
(applications network)

TANGO

C Client application.

C
S

S Server Application.

TANGO
Application Logic
Hardware

TANGO : introduction
Unifier kernel (core) of the system
Overall consistency

factorize the services

factorize additions and corrections

TANGO : introduction
Unifier kernel (core) of the system
Overall consistency

factorize the services

factorize additions and corrections

standardize the applications

harmonization of the applications structure

TANGO : introduction
Unifier kernel (core) of the system

Overall consistency

factorize the services

factorize additions and corrections

standardize the applications

harmonization of the applications structure

masks technical details

1 interface of simplified programmation (APIs)
focus on the application logic

TANGO : introduction
Philosophy
simplicity
mask the CORBA mechanisms
propose simplified APIs

genericity
Enable the writing of generic clients
On the communications point of view: 1 single object
type

TANGO : introduction

TANGO : device
an abstract concept : the device
central component of the structure (architecture)

Dev
O

Dev
O

Dev
O

Dev
O

Dev
O

Dev
O

Application
Rpartie
Control System

Dev
O

Dev
O

Dev
O

Dev
O

Dev
O

Dev
O

TANGO : device : definition

device = 1 <entity> to be controlled
Hardware of software
device physical / device logical

device = 1 polymorphous object

1 equipment (ex: 1 power supply)
1 collection of equipments (ex: 1 motor + 1
encoder)
1 devices agregate (ex: a beamline)
1 application (ex: 1 agent of the storage service)

TANGO : device : dfinition

device = 1 equipment
The most simple and widespread case

Interface HW
equipement

Equipement

Ctrl/power supply box

Ionical Pump

Device
BOO-B1/VI/PI55-3
SC
User

Unique Identity
(SOLEIL
nomenclature)

TANGO : device : definition

device = 1 application
Logic device
1

Device 1
G 1 = f (1)

Device 2
G 2 = f (2)

G
G

Device 3
3 = h (G 3)

Device 4
G 3 = g(,G1, G2)
G

Client(s)

TANGO : device : class

Belongs to a class
member of a devices family
derived from a basic (common) class
generical behavior / common core
Genericity

Device
Developer
TANGO

BPM

Specialization

PowerSupply

BumperPowerSupply
Developer
SC

TANGO : device : interface

Interface
(public)
Implementation
(private)

TANGO : device : interface

Owns a communication interface
interface device <=> class
interface = commands + attributes
commandes actions
attributes physical units

Interface
public

private

Commands

attributes

Generic

Specific

Generic

Specific

Init
State
Status

PowerOn
PowerOf

current

Implementation/Realization

TANGO : device : interface

Owns a communication interface
interface device <=> class
interface = commands + attributes
commands actions
attributes physical units

Interface
public

priv

Commands

attributes

Generic

Specific

Generic

Specific

Init
State
Status

PowerOn
PowerOf

current

Implementation/Realization

TANGO : device : interface : command

1 action
0 ou 1 entry argument (argin)
0 ou 1 exit argument (argout)
argin & argout = 1 of the 20 TANGO types
Execution : indirect mecanism
-> generic approach of TANGO
-> 1 CORBA method : command_inout

belongs to the generic interface of the devices

dedicated to the fulfillment of non generic commands
Devices specificity (PowerSupply, StepperMotor, )

only one signature : 400 combinations argin/argout !

generic containers (CORBA::any)

TANGO : device : interface : command

About the argin & argout type
TANGO

Desc

Matlab

DEV_VOID

no argin and/or no argout

DEV_STATE

Device status

1-by-n char array

DEV_STRING

Characters chain

1-by-n char array

DEV_BOOLEAN

boolean

1-by-1 uint16 array

DEV_SHORT

Integer 16 bits signed

1-by-1 int16 array

DEV_USHORT

Integer 16 bits non signed

1-by-1 uint16 array

DEV_LONG

Integer 32 bits signed

1-by-1 int32 array

DEV_ULONG

Integer 32 bits non signed

1-by-1 uint32 array

TANGO : device : interface : commande

About the argin & argout type
TANGO

Desc

Matlab

DEV_FLOAT

real 32 bits

1-by-1 single array

DEV_DOUBLE

real 64 bits

1-by-1 double array

DEVVAR_CHARARRAY

Octets chart (i.e. characters)

1-by-n char array

DEVVAR_ SHORTARRAY

Integers chart 16 bits signed

1-by-n int16 array

DEVVAR_ USHORTARRAY

Integers chart 16 bits not signed

1-by-n uint16 array

DEVVAR_ LONGARRAY

Integers chart 32 bits signed

1-by-n int32 array

DEVVAR_ ULONGARRAY

Integers chart 32 bits not signed

1-by-n uint32 array

DEVVAR_ FLOATARRAY

reals chart 32 bits

1-by-n single array

TANGO : device : interface : commande

A propos du type dargin & argout
TANGO

Desc

Matlab

DEVVAR_ DOUBLEARRAY

Reals chart 64 bits

1-by-n double array

DEVVAR_ STRINGARRAY

Non bounded characters chains

chart

1-by-n cell array of

{1-by-n char array}

DEVVAR_LONGSTRINGARRAY

DEVVAR_DOUBLESTRINGARRAY

structure containing an integers

chart 32 bits signed and a
characters chains chart

structure containing a reals

chart 64 bits and a characters
chains chart

1-by-n struct array {

field lvalue:
1-by-n int32 array
field svalue:
1-by-n cell array of
{1-by-n char array}
}
1-by-n struct array {
field dvalue:
1-by-n double array
field svalue:
1-by-n cell array of
{1-by-n char array}
}

TANGO : device : interface : command

Syntaxe

Prog. env. OO (C++, Java, Python)

argout = dev.command_inout (cmd_name, argin)

User env. (Matlab, Igor Pro, )

argout = tango_command_inout (dev_name, cmd_name, argin)

Examples Matlab
>>
>>
>>
>>
>>
>>
>>

help tango_command_inout
dev = tango/tangotest/1
tango_command_inout(dev,DevDouble,pi)
tango_command_inout(dev,DevVarDoubleArray,[1,2,3])
[Link] = [pi, 2*pi, 3*pi]
[Link] = {dev, var, double, array, test}
tango_command_inout(dev,DevVarDoubleStringArray,s)

TANGO : device : interface : command

Name and signature of the commands ?
Devices Documentation
[Link]

Prog. env.. OO (C++, Java, Python)

cmd_list_info = dev.command_list_query ()
cmd_info = dev.command_query (cmd_name)
User env. (Matlab, Igor Pro, )
cmd_list_info = tango_command_list_query (dev_name)
cmd_info = command_query (dev_name, cmd_name)
Examples Matlab
>> tango_command_list_query(dev)
>> tango_command_query(dev,DevDouble)
>> tango_print_cmd_list(dev)

TANGO : device : interface : command

Errors processing
Prog. env.. OO (C++, Java, Python) :
exceptions : mechanism try/catch (DevFailed & derived)

User env. (Matlab, Igor Pro, ) :

error code : updating after each execution of a command

Examples Matlab:
>> result = tango_command_inout(dev,dummy,pi);
>> tango_error
if tango_error == -1 then
result is invalid, indfini
result can be not of the expected type !
Do not use it !

>> help tango_error

an example to follow !

TANGO : device : interface : commands

TANGO : device : interface

Has a communication interface
interface device <=> class
interface = commands + attributes
commands actions
attributes physical units

Interface
public

priv

Commands

attributes

Generics

Specifics

Generics

Specifics

Init
State
Status

PowerOn
PowerOf

current

Implementation/Realisation

TANGO : device : interface : attribute

Definition
Physical unit produced or administrated by the device
ex: a motors position, alimentation power supply.,

Format
From 0 to 2 dimensions

SACLAR
SPECTRUM (i.e. vector)
IMAGE (i.e. matrix)

Type

DEV_SHORT, DEV_LONG, DEV_DOUBLE

scalar, spectrum or image

DEV_STRING
scalar only

TANGO : device : interface : attribute

Accessibility
READ

accessible in read only

WRITE

accessible in write only

READ_WRITE
accessible in read AND in write only
Consigne (instructions) vs efective value

READ_WITH_WRITE

1 attribute READ linked to 1 attribute WRITE

exotic (prefer READ_WRITE)

TANGO : device : interface : attribute

Features : autodescriptive & parametrizable
1 attribute -> 18 properties
generic properties (attribute)
8 non-modifiable properties (developer)

name : attributes name

data_type : data type (DEV_SHORT, DEV_LONG, )
data_format : data format (SCALAR, SPECTRUM or IMAGE)
writable : access mode (READ, WRITE, )
max_dim_x, max_dim_y : dimensions max
dim_x <= max_dim_x
dim_y <= max_dim_y
disp_level : expert or operator
wrt_attr_name : name of the attibute WRITE associated

TANGO : device : interface : attribute

10 modifiable properties (user)
description : attr. Description (text)
label : label associated to the attr. (text)
unit : unit in which is expressed the value associated to the attribute
(text)
standard_unit : conversion factor to the units MKSA (text)
display_unit : unit * standard_unit (text)
format : display format for the numerical attributes (texte)
Key-words : fixed, scientific, uppercase, showpoint, showpos, setprecision(),
setw()
ex : scientific;uppercase;setprecision(3)

min_value : min. value of an attribute WRITE or READ_WRITE (text)

max_value : max. value of an attribute WRITE or READ_WRITE (text)
min_alarm : alarm threshold <low> of an attribute READ or
READ_WRITE (text)
max_alarm : alarm threshold <high> of an attribute READ or
READ_WRITE (text)

TANGO : device : interface : attribute

List of the attributes ?
Documentation of the device

[Link]

Prog. env. OO (C++, Java, Python)

attr_list = dev.get_attribute_list ()

User env. (Matlab, Igor Pro, )

attr_list = tango_get_attribute_list (dev_name)
Example Matlab
>> attr_list = tango_get_attribute_list(dev)

TANGO : device : interface : attribute

Standard configuration of an attribute ?
Prog. env. OO (C++, Java, Python)

attr_config_list = dev.get_attribute_config(attr_name_list)
attr_config_list = dev.attribute_list_query()
attr_config = dev.attribute_query(attr_name)

User env. (Matlab, Igor Pro, )

attr_config_list = tango_attribute_list_query(dev_name)
attr_config_list = tango_get_attributes_config(dev_name, attr_name_list)
attr_config = tango_attribute_query(dev_name, attr_name)
attr_config = tango_get_attribute_config(dev_name, attr_name)

Example Matlab
>> help tango_attribute_list_query
>> acl = tango_attribute_list_query(dev)
>> acl(2)

TANGO : device : interface : attribute

Modify an attributes configuration ?
Take care of the consequences !

acts upon all the clients

sensitive parameters : min/max_value, min/max_alarm

Prog. env.. OO (C++, Java, Python)

dev.set_attr_config (attr_config_list)

User Env. (Matlab, Igor Pro, )

tango_set_attribute_config (dev_name, attr_config)

tango_set_attributes_config (dev_name, attr_config_list)

Example Matlab

>> help tango_set_attributes_config

>>
>>
>>
>>
>>

scc = tango_get_attribute_config(dev, short_scalar)

scc.min_value = num2str(str2num(scc.min_value) / 2)
scc.max_value = num2str(str2num(scc.max_value) / 2)
[Link] = This is a dummy attribute
tango_set_attribute_config(dev, scc)

TANGO : device : interface : attribute

Obtain the standard value of an attribute ?
attributes READ, READ_WRITE ou READ_WITH_WRITE
Result of the lecture => structure {read value + infos }

name : name of the attribute

quality : quality of the returned value
ATTR_VALID : ok, the returned value is valid
ATTR_ALARM : an alarm threshold has been crossed (cf. min_alarm and max_alarm)
ATTR_INVALID : error, undefined value

dim_x : dim.x of the value (dim_x <= attr_config.max_dim_x)

dim_y : dim.y of the value (dim_y <= attr_config. max_dim_y)
timestamp : value stamp
value : value of the attribute at this very instant <timestamp>
SCALAR
READ : [0 : val]
READ_WRITE et READ_WITH_WRITE : [0:measure, 1:consigne]
SPECTRUM
[0 : measure, , dim_x 1 : measure]
IMAGE
[0 : measure, , dim_x 1 : measure] x [0 : measure, , dim_y 1 : measure]

TANGO : device : interface : attribute

Obtain the standard of an attribute ?
Prog. env. OO (C++, Java, Python)

dev.read_attributes (attr_name_list)

User Env. (Matlab, Igor Pro, )

tango_read_attribute (dev_name, attr_name)

tango_read_attributes (dev_name, attr_name_list)

Example Matlab

>>
>>
>>
>>

help tango_read_attribute
scv = tango_read_attribute (dev, short_image)
datestr([Link])

for i=1:10 s=tango_read_attribute(dev, short_spectrum);

plot([Link]); drawnow; end;

TANGO : device : interface : attribute

Modify the value of an attribute ?
attributes WRITE, READ_WRITE et READ_WITH_WRITE
attr_config.min_value <= set value <= attr_config.max_value
exception API_WAttrOutisideLimit

Prog. env. OO (C++, Java, Python)

dev.write_attributes (attr_val_list)

User Env. (Matlab, Igor Pro, )

tango_write_attribute (dev_name, attr_name, value)

tango_write_attributes (dev_name, attr_name_attr_value_struct_list)

example Matlab

>>
>>
>>
>>
>>
>>
>>

help tango_write_attribute
tango_write_attribute (dev, short_scalar, 123456789)
tango_print_error_stack
tango_write_attribute (dev, short_scalar, int16(123456789))
tango_print_error_stack
tango_write_attribute (dev, short_scalar, int16(1024))
tango_read_attribute (dev, short_scalar)

TANGO : device : Status

1 device -> 1 status
behavior = f (internal status)

request -> internal status -> execution or exception

Internal status run by the device

14 predefined status
ON, OFF, CLOSE, OPEN, INSERT, EXTRACT, MOVING, STANDBY, FAULT,
INIT, RUNNING, ALARM, DISABLE, UNKNOWN
known and run by the clients (particularly generic)

Obtain the current status of a device ?

Prog. env. OO (C++, Java, Python)

[Link] ()

User env. (Matlab, Igor Pro, )

dev_state = tango_state (dev_name)

example Matlab
>> help tango_state
>> tango_state(dev)
>> tango_status(dev)

TANGO : properties
Definition
Configuration Data
concept spread to all TANGO entities

attribute, device, classe, system

Attributes property

18 properties TANGO predefined +

properties defined by the developer
ex: initial value of an attribute

Devices property

specific to the device

defined by the developer
ex: adress GPIB of a peripheric

Class property

shared with all the devices of the class

defined by the developer
ex: URL of the documentation

Systems property

shared with all the devices of SC

ex: an info related to a centralized service (port n r of the storage service)

TANGO :

properties

Ex : Manipulate the value of a devices property ?

Beware the consequences !

initialization of the devices

Prog. env.. OO (C++, Java, Python)

indirect way (cf. TANGO doc)

User env. (Matlab, Igor Pro, )

prop_val = tango_get_property (dev_name, prop_name)

prop_val_list = tango_get_properties (dev_name, prop_name_list)
prop_val = tango_put_property (dev_name, prop_name, prop_val)
prop_val_list = tango_put_properties (dev_name, prop_name_list)
tango_del_property (dev_name, prop_name)
tango_del_properties (dev_name, prop_name_list)

example Matlab

>> help tango_get_property(dev, mthreaded_impl)

>> tango_get_property(dev, mthreaded_impl)

TANGO : device

TANGO : device : summary

Device
Generic
Behavior

ID
Unique

Classe

ens-[seg]/dom/elem.1

My Device
Commands
attributes
Status

properties

Instanciation

ens-[seg]/dom/elem.2
ens-[seg]/dom/elem.3

Where to store the properties

and all the configuration data ?

TANGO : database (static)

Database of the configuration
critical element of the system
The only information source for the devices and the clients

Content : 7 tables

server : infos related to the servers (admin. du SC)

device : infos related to the devices (IOR=@particularly the network)
property : global properties associated to SC
property_class : properties associated to a class of devices
property_device : properties associated to a particular device
property_attribute_class : properties associated to an attribute (for any device)
property_attribute_device : properties associated to an attribute of a particular
device

Implementation
1 dedicated device = interface TANGO of a SGBD
TANGO_HOST = host_name:host_port (ex: localhost:20000)

TANGO : device server

S

Control system
SOLEIL
(applications network)

C Client Application

C
S

S Server Application

DServer
Device
Device
Device

Device Server

Admin.
SC

TANGO

TANGO system

{Device Servers {Devices}}

+
Static DB

TANGO : APIs and platforms

APIs/Programming Languages

C++ (performances)
Serveu
Java (portability)
Client
rs
Python (scripts)
s
Others (Matlab, Igor Pro, LabView)

platforms
Linux
Windows NT/2000/XP
Sun-Solaris

Questions

TANGO : Java Tools

LogViewer
Management of messages generated by the
devices

DeviceTree
Generic Client : tests, monitoring,

Jive
Administration of the TANGO database

Pogo
Code generator (dev. devices)