1. Overview of TANGO Control system
            
             
                        
                  
Overview of TANGO
Control system
EUROPEAN SYNCHROTRON RADIATION FACILITY
SYNCHROTRON SOLEIL
SYNCHROTRON ELETTRA
SYNCHROTRON ALBA
June 2010
JM Chaize, ESRF/CERN control workshop

2. TANGO Software Bus distributed on a network
A software bus
development
tools
Generic Services
User environment
Matlab,Labview Igor, Python
Data
Analysis
Config
Monitor
Sequencing
Archiving
Application Tool-Kit
API Library
TANGO Software Bus distributed on a network
Catalog of
device servers
Hardware
Device
Device
Hardware
Device
Hardware
Device
Hardware
Device
Hardware
Interface
Generator
June 2010
JM Chaize, ESRF/CERN control workshop

3. CORBA Common Object Request Broker Architecture
Standardize the communication between distributed objects
Many advantages
Vendor independent: Sponsored by many companies
Language independent: Interface Definition Language
Platform independent: Supports heterogeneity
Object oriented: Code re-use, encapsulation …
Very fast
BUT…
Not trivial to use…
Does not address specific needs of control.
June 2010
JM Chaize, ESRF/CERN control workshop

4. JM Chaize, ESRF/CERN control workshop
What is TANGO ?
A CORBA framework for doing control
A toolbox to implement the system
A specialization of CORBA adapted to Control
Hide the complexity of Corba to the programmer
Control System
TANGO
CORBA
June 2010
JM Chaize, ESRF/CERN control workshop

5. The fundamental brick of TANGO is the Device
TANGO software Bus
The device is a remote object
Interface
Device class
Tango est un bus logiciel, et on vient clipser des éléments dessus. L’élément de base s’appelle un Device Server
Un DS: c’est un server logiciel qui gère un équipement HW. c’est le representant logiciel du HW
Standard interface for hardware equipment or service HW
(motor…)
June 2010
JM Chaize, ESRF/CERN control workshop

6. Example: motor interface:
TANGO devices
Example: motor interface:
MOTOR:
Commands: On(), Off(), …
Attributes: Speed, Position
State: On, Off, Alarm, Fault
Interface
Automatic
code generator
L’interface c’est la partie « visible » du device server
Attributs: principalement une grandeur quantifiable
Commande: non quantifiable
Hardware control code
To be written
By the programer
June 2010
JM Chaize, ESRF/CERN control workshop

7. TANGO devices 1 Device can also interface complex systems
Hierarchical structure
Client
Client
TANGO Software Bus
Macro device: e.g. Accelerator
sub devices: e.g. powersupplies
sub devices: e.g. ADC, modbus…
June 2010
JM Chaize, ESRF/CERN control workshop

8. JM Chaize, ESRF/CERN control workshop
TANGO devices
1 Device can also interface complex systems
Bridge to other protocols
TANGO Software Bus
Interface
Device
LINAC
other
Control system
e.g. TACO
RPC
June 2010
JM Chaize, ESRF/CERN control workshop

9. TANGO devices 1 Device can also interface complex systems
Bridge to other protocols
TANGO Software Bus
Interface
Device ID
Build a TANGO object from a set of channels
Channel Access
June 2010
JM Chaize, ESRF/CERN control workshop

10. TANGO devices 1 Device can also interface complex systems
Bridge to other protocols
TANGO Software Bus
Interface
Device
Air Conditioning
Build TANGO device from a set of OPC TAGs
Infrastructure
server
OPC
June 2010
JM Chaize, ESRF/CERN control workshop

11. JM Chaize, ESRF/CERN control workshop
TANGO devices
1 Device can also interface complex systems
Bridge to other protocols
TANGO Software Bus
Interface
Device
I/O
Embedded
system
Modbus TCP/IP
June 2010
JM Chaize, ESRF/CERN control workshop

12. TANGO devices 1 Device can also interface complex systems
Bridge to other protocols
TANGO Software Bus
Interface
Device
I/O
Build a TANGO device from DataSocket urls
DataSocket
June 2010
JM Chaize, ESRF/CERN control workshop

13. JM Chaize, ESRF/CERN control workshop
TANGO Communication
Synchronous
Client
Send
request
Wait
Get Answer
TANGO Software Bus
server
Do the job
June 2010
JM Chaize, ESRF/CERN control workshop

14. JM Chaize, ESRF/CERN control workshop
TANGO Communication
Asynchronous
Client
Send
request
Do other
job
Get Answer
When needed
TANGO Software Bus
server
Do the job
June 2010
JM Chaize, ESRF/CERN control workshop

15. JM Chaize, ESRF/CERN control workshop
TANGO Communication
Event Driven
Client
Subscribe
once
Callback
Do other
job
TANGO Software Bus
Signal event
When occurs
(state change)
Do its job
server
June 2010
JM Chaize, ESRF/CERN control workshop

16. Abstract interface classes
Standardise interfaces of equipment of the same types
TANGO software Bus
Interface
Implem
Concrete
Abstract
motor
Different types
of motors
Interface
Implem
Concrete
Abstract
powersupply
Different types
of powersupplies
Tango est un bus logiciel, et on vient clipser des éléments dessus. L’élément de base s’appelle un Device Server
Un DS: c’est un server logiciel qui gère un équipement HW. c’est le representant logiciel du HW
June 2010
JM Chaize, ESRF/CERN control workshop

17. Much more than a software bus
Code generator for C++, Java
Configuration tool
Administration tool
Archiving service
Access control service
Logging service
Scan service
Application Toolkit for Java
Application Toolkit for QT
Synopsis animation tool
Alarm service
Web interface
Python client and servers
Bindings for Matlab
Bindings for Labview
Binding to a SCADA
Bridge with EPICS
Many utility classes
List of abstract classes
Hardware access class catalog
Mailing list and Wiki
Tutorials
June 2010
JM Chaize, ESRF/CERN control workshop

18. Jdraw: Generic Synoptic animation
June 2010
JM Chaize, ESRF/CERN control workshop

19. Jive Database browser and Test Device Launcher

20. POGO Device Server Code Generator
C++ or Java

21. POGO Device Server Code Generator

22. ATKpanel a generic client
June 2010
JM Chaize, ESRF/CERN control workshop

23. Astor/Starter Tango Control System Manager
Get host list
DB server
Ethernet
Host n
Starter
server DS
Host n
Starter
server DS
Get status
Host n
Starter
server DS
Host n
Starter
server DS
Host n
Starter
server DS
Host n
Starter
server DS
Host n
Starter
server DS
Host 1
Starter
server DS
Get server list

24. Embedded TANGO servers
Traditional architecture
TANGO
client
TANGO Software Bus
Device
I/O
Interface
TCP/IP
Embedded system
PC HOST
June 2010
JM Chaize, ESRF/CERN control workshop

25. Embedded TANGO servers
Embedded server
TANGO
client
TANGO Software Bus
Interface
Embedded system
June 2010
JM Chaize, ESRF/CERN control workshop

26. Embedded TANGO servers
Next steps
TANGO
client
TANGO Software Bus
TANGO server
Mapped into a
FPGA
June 2010
JM Chaize, ESRF/CERN control workshop

27. Embedded TANGO servers
Next steps
TANGO
client
TANGO Software Bus
Gumstix SBC
June 2010
JM Chaize, ESRF/CERN control workshop

28. JM Chaize, ESRF/CERN control workshop
The work continue…
Improve the performance of the event system
Distributed naming service ?
Better manage the large number of available classes
Search machine…
Better packaging
Generalization of abstract interfaces
More generic servers
Java GUI panels supplied for each abstract interface
Split the documentation in several books
Tutorials and examples…
June 2010
JM Chaize, ESRF/CERN control workshop

29. Thank you for your attention
WWW sites for TANGO
Common site
June 2010
JM Chaize, ESRF/CERN control workshop