the sardana device pool a strange “future” demonstration a talk given by and at the hamburger...

The Sardana device poolA strange “future” demonstration

A Talk given by and at the Hamburger Tango Meeting 17/18 th September 2010

Authors: Emmanuel Taurel, Alejandro Homs, Vicente Rey, Pep Ribas, and more

Jörg Klora Tiago Coutinho

18/9/2007

Get an overview about the flow of the demonstration to come

Hamburger Tango Meeting

Our Sardana “Demonstration”

• Get the sardana system and install it on this PC• Add some hardware:

– Two motors– A counter, multimeter, and a communication channel– Pseudo motor gap and offset

• Use the CLI (and understand the role of the macro server)

• Write your own macro• Look at a motor controller code• Understand pseudo motor code

18/9/2007

Introduce the different roles of the users of the sardana pool


Installation

• Back to the future

• Main Screen

• Back to the future

• Main Screen

18/9/2007

Understand the different roles to not confuse the changing viewpoints throughout the demonstration


POINTS

• Different roles:– Developer of the core system (few)– Developer of add-ons (many)– Software support – Expert users– End user

18/9/2007

See how easy it is to install the whole system from scratch


Prepare for installation• Prepare for Installation• Result

• Prepare for Installation• Result

18/9/2007

Make the points about the need for easy installation


POINTS

• Special care for easy installation on a single PC or in a complicated beamline scenario

• All necessary packages will be downloaded – otherwise there are too many dependencies!

18/9/2007

Start to add hardware to an empty system to see the system from the point of view of the technician


Add two motors

• Add motors

18/9/2007

Use the generic configuration GUI as a mean to understand the underlying server


Historical

Moviefrom2007

18/9/2007

Explain the details of the configuration GUI and the server to clearly see the difference


Behind the scenes

Sardana Device Pool

Pool Device

sup

sdown

POOL> wa

POOL> mv th 2.3

POOL>

ControllerHuber

ControllerHuber

18/9/2007

See the result of our efforts from the role of the end user of the CLI


CLI demo

IPython

18/9/2007

Make the points to clearly explain what the functionallity of the Sardana pool is


POINTS• Standard tango device are created• Different hardware will always produce the same

standard motor device• A specific client has only knowledge about the

simple motor devices not the pool device• Multi clients because of use of events (as far as

possible with current version of TANGO!!)• The motor interface is for high level access –

think of it as the user commands (mv, set, setdial …) in SPEC

18/9/2007

Add more hardware to see who powerful the system already is


Add more hardware

• Add a counter, multimeter and measurement group

18/9/2007

Add a counter controller with the low level generic configuration GUI


Create counter

controller

18/9/2007

Add the well known 3 standard channels to compare the concepts with existing solutions


Create counter channels

secmondet

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Add an integrating electrometer to see that standard macro solution are already included


Addpico

ampermeterchannel

18/9/2007

Introduce the concept of a measurement group even with the GUI for didactic purposes


Create measure

mentgroup

18/9/2007

Further explain the pool Hamburger Tango Meeting

POINTS• High performance core (C++ , python)• The pool knows about motors, counters, and lots

of other devices and provides a simple, standard and unique interface to them

• The pool synchronizes the measurement, minimizes hardware access and allows different users to use the hardware together

• The pool is a client software where the standard <ASCII> interface has been replaced by a series of TANGO devices

18/9/2007

Demonstrate the actions so far from the users point of view


CLI demo

IPython with scanning and more hardware

18/9/2007

Explain the macro server and its relation to a command line interface


Macro Server

Behind the scenes – CLI and Macros

Sardana Device Pool

Pool Device

sup

sdown

POOL> wa

POOL> mv th 2.3

POOL>

ControllerJorg

Mymv

Door

Macromymv

sup

sdown

Pool DeviceMacro Device Pool Device

18/9/2007

Write a simple macro to understand the concept of a macro and the distinction to python functions


Write a macro

• Create new macro file

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Explain the edit process and show how the internal processes are hidden from the macro programmer


Behind the scenes – Editing Macros

POOL> wa

POOL> mv th 2.3

POOL>

POOL> wa

POOL> mv th 2.3

POOL>

Mymv

Sardana Device Pool

sup

sdown ControllerHuber

Pool Device

CVS Server

Macro ServerDoor

sup

sdown

Macro Device

Door

Step 1When a client starts it gets the macro list with its arguments from the serverStep 2A new macro file is created from the templateStep 3The macro is sent to the CVS Server and the Macro Server is informedStep 4The macro file is loaded from the CVS Server and into memoryStep 5An event is sent with the new macro list

Mymv

18/9/2007

Make the points about the macro server and the edit process


POINTS• Macros are global to all clients of the macro

server• The internal structure is hidden from the user

(i.e. CVS)• Macros are commands in the CLI (i.e. wa mv)• The current threading model is that macros are

serialized • Every client uses at least one “mostly private”

door

18/9/2007

Explain the simple macro to understand further what a macro is


Move macroclass mymv(Macro): """Move motor to position"""

param_def = [ ['motor', Type.Motor, None, 'Motor to move'], ['pos', Type.Float, None, 'Position to move to'] ]

def run(self, motor, pos): motor.startMove(pos) motor.waitMove()

POINT 1

A macro is a class which inherits from MacroPOINT 2

A macro has a description of itself and its parameters

POINT 3

A macro has a method run which will be started in a separate thread

18/9/2007

Hint on many more advanced points in the macro server we have no time to treat here


Macros• A macro is a class which inherits from Macro

• A macro has a description of itself and its parameters

• A macro has a method run which will be started in a separate thread

• The macro server knows also about:– Macros i.e. macros call macros

– Parameters i.e. add new type of parameters

– Output through logging framework i.e. wa

– Dataflow with different file formats and online plotting

18/9/2007

Show the controller code to allow to grasp the concept of device specific plug-ins


Write a controller

• edit a motor controller

18/9/2007

Insist on the very well defined structure of a controller and the supervisor role of the pool


Controller Code

start_one

state_one

prestart_one

start_all

abort_one

Serial line channelF

eatu

res

(i.e.

ba

ckla

sh)

….

Ext

ra P

aram

eter

s

Ext

ra A

ttrib

utes

18/9/2007

Repeat the important points of the controller and try to make the distinction to device servers


POINTS• Controllers are easy to write and include only

code specific the device (i.e. no backlash capacity in the controller and the pool will simulate this feature)

• One can not write an “incompatible” controller• Maximum performance through minimum

number of hardware calls (i.e. if move multiple exists it will be used)

• Controllers can talk to the hardware by communication channels or device servers

18/9/2007

Explain communication channels to access devices in a simple, configurable and controlled way


Use our controller

• Add the communication channel to the hardware

18/9/2007

Insist on the points before with the generic configuration GUI


Creation of a

communication channel

18/9/2007

Explain pseudo motor as advanced plug-ins for this common functionality


Pseudo Motors

• are an example of specialized plug-ins (pseudo counters, constraints, file formats, logging destinations, …..)

18/9/2007

Show how easy it is to define the pseudo motors even in the very generic configuration GUI


Create pseudo motor

slit

18/9/2007

Explain in detail the pseudo motor code to proof how simple it is to add to the system


Pseudo controller codefrom PseudoMotorController import PseudoMotorController

class Slit(PseudoMotorController): """A Slit pseudo motor system “”” gender , model, organisation = "Pseudo motor“, "Slit“, "CELLS - ALBA" image, logo = "slit.png“, "ALBA_logo.png" pseudo_motor_roles = ("Gap", "Offset") motor_roles = (“top blade", "bottom blade")

class_prop = { ‘resolution' : { 'Description' : ‘The encoder resolution', 'Type' : 'PyTango.DevFloat, ‘DefaultValue' : 1.0 }, }

def calc_physical(self,index,pseudo_pos): half_gap = pseudo_pos[0]/2.0 if index == 0: return pseudo_pos[1] - half_gap else: return pseudo_pos[1] + half_gap

def calc_pseudo(self,index,physical_pos): if index == 0: return physical_pos[1] - physical_pos[0] else: return (physical_pos[0] + physical_pos[1])/2.0

from PseudoMotorController import PseudoMotorController

class Slit(PseudoMotorController):

"""A Slit pseudo motor system “”” gender , model, organisation = "Pseudo motor“, "Slit“, "CELLS - ALBA" image, logo = "slit.png“, "ALBA_logo.png"

pseudo_motor_roles = ("Gap", "Offset")motor_roles = ("top blade", "bottom blade")class_prop = { ‘resolution' : { 'Description' : ‘The encoder resolution', 'Type' : 'PyTango.DevFloat, ‘DefaultValue' : 1.0 }, }

def calc_physical(self,index,pseudo_pos): half_gap = pseudo_pos[0]/2.0 if index == 0: return pseudo_pos[1] - half_gap else: return pseudo_pos[1] + half_gap

def calc_pseudo(self,index,physical_pos): if index == 0: return physical_pos[1] - physical_pos[0] else: return (physical_pos[0] + physical_pos[1])/2.0

A class inheriting from PseudoMotorControllerSome information i.e. for GUI beautification The roles of the real and pseudo motors A method to calculate real positions from pseudoA method to calculate pseudo positions from realSome extra properties

18/9/2007

Further insist on the points of specific plug-ins


POINTS

• Pseudo motors are generic to the system and not inside a specific client

• Very simple to write all the details are taken care of by the pool (events when finished, update intervals, ….)

• Specific plug-ins for specific purpose ..

18/9/2007

Make it clear that we are talking about the hidden part of the iceberg less supported by our users


The most important is …

18/9/2007

Give a short overview about the current status


Old Problems (from 2007)

• Still too unstable (pre alpha)

• Some features missing MCA, CCD, hkl

• Ease of installation and use not there yet

• Older problems:– TANGO Events are too specific and not

adapted for these type of IPC– Tango Servers in Python were not possible

18/9/2007

Resume in "one" sentence and cry for help


Conclusion• Machine and Experiments need a generic client

(i.e currently SPEC and Middle Layer)• The device pool aims to be this tool – A generic

client in the center of data acquisition and control

• The client can be “easily” adapted to other synchrotrons with all kind of plug-ins

•PLEASE HELP

the sardana device pool a strange “future” demonstration a talk given by and at the hamburger...

Documents

current version of tango

sardana system

motor interface

motorsa counter

createddifferent hardware

simple motor devices

standard macro solution

standard channels