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TANGO

TANGO. A control system framework for accelerator and beamlines Design principles Basic concepts Status and projects. Jean-Michel Chaize On behalf of TANGO teams ESRF, SOLEIL,ELETTRA, ALBA. We keep (Natural Selection) distributed objects Network Unix. Darwin. We Change

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TANGO

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  1. TANGO A control system framework for accelerator and beamlines • Design principles • Basic concepts • Status and projects Jean-Michel Chaize On behalf of TANGO teams ESRF, SOLEIL,ELETTRA, ALBA JM Chaize PCaPac2005

  2. We keep (Natural Selection) • distributed objects • Network • Unix Darwin • We Change • RPC -> CORBA • OS9 -> Windows and Linux • C,TCL -> C++, Java, Python Budda • Innovation • services e.g. web services, administration, monitoring… • automation e.g. Sequencing, scanning… Da Vinci TANGO design principles Control system running since 1991 Improvement became difficult => We decided to refurbish JM Chaize PCaPac2005

  3. development tools Generic Services Archiver User environment Matlab,Labview Igor, Python Java Application Tool-Kit Data Analysis logging Config Scan server Sequencer API Library Device Device Device Device Device Hardware Hardware Hardware Hardware Hardware Catalog of device servers What is TANGO? TANGO Software Bus Interface Generator JM Chaize PCaPac2005

  4. CORBACommon 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. JM Chaize PCaPac2005

  5. Control System TANGO CORBA 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 JM Chaize PCaPac2005

  6. The fundamental brick of TANGO is the Device TANGO software Bus network The device is a remote object Interface Device class Standard interface for hardware equipment or service HW (motor…) JM Chaize PCaPac2005

  7. TANGO devices Example: motor interface: MOTOR: Commands: On(), Off(), … Attributes: Speed, Position State: On, Off, Alarm, Fault Round robin buffer, polling thread, event triggering… Interface Automatic code generator Hardware control code To be written By the programer JM Chaize PCaPac2005

  8. C++ or Java Pogo code generator Attributes properties For genericity JM Chaize PCaPac2005

  9. Device LINAC TANGO devices • 1 Device can also interface complex systems • Bridge to other protocols TANGOSoftware Bus Interface other Control system e.g. TACO RPC JM Chaize PCaPac2005

  10. Device ID TANGO devices • 1 Device can also interface complex systems • Bridge to other protocols TANGOSoftware Bus Interface Build a TANGO object from a set of channels Channel Access JM Chaize PCaPac2005

  11. Device Air Conditioning TANGO devices • 1 Device can also interface complex systems • Bridge to other protocols TANGOSoftware Bus Interface Build TANGO device from a set of OPC TAGs Infrastructure server OPC JM Chaize PCaPac2005

  12. Device I/O TANGO devices • 1 Device can also interface complex systems • Bridge to other protocols TANGOSoftware Bus Interface Embedded system Modbus TCP/IP JM Chaize PCaPac2005

  13. Device I/O TANGO devices • 1 Device can also interface complex systems • Bridge to other protocols TANGOSoftware Bus Interface Build a TANGO device from DataSocket urls DataSocket JM Chaize PCaPac2005

  14. server TANGO Communication • Synchronous Client Send request Wait Get Answer ~0.2 ms TANGOSoftware Bus Do the job JM Chaize PCaPac2005

  15. server TANGO Communication • Asynchronous Client Send request Do other job Get Answer When needed TANGOSoftware Bus Do the job JM Chaize PCaPac2005

  16. server TANGO Communication • Event Driven State change event On change event Periodic event Archive event …. Client Subscribe once Callback Do other job Corba Notification service TANGOSoftware Bus Signal event When occurs (state change) Do its job JM Chaize PCaPac2005

  17. Abstract interface classes Abstract powersupply Abstract motor Interface Interface Concrete Concrete Concrete Concrete Concrete Concrete Concrete Concrete Implem Implem Implem Implem Implem Implem Implem Implem Different types of powersupplies Different types of motors Standardise interfaces of equipment of the same types TANGO software Bus JM Chaize PCaPac2005

  18. Abstract interface classes • Standardize interface to families of equipments • Powersupply, motors, function generators, bpm, orbit, correctors…. • Decouple high level clients from hardware choices • Ease code reuse and interoperability between sites • Multiples beamlines, inter institutes exchange… • Sharing of accelerator physics, data analysis, matlab macros etc… • Allow using different hardware for similar functions • Allow to build a catalog of compliant device servers • Sharing hardware solutions over multiple institutes, beamlines… JM Chaize PCaPac2005

  19. TANGO: Many clients available Java, C++,Python Linux, Windows, Solaris TANGO JAVA ATK (Swing) Scan Service QT SPEC TANGOSoftware Bus Dev Dev Dev Dev Dev Dev Dev OPC Linux, Windows, Solaris Labview RT JM Chaize PCaPac2005

  20. Astor: Administration tool

  21. Jive: Database browsing

  22. ATKpanel a generic client JM Chaize PCaPac2005

  23. Jdraw: Generic Synoptic animation JM Chaize PCaPac2005

  24. TANGO Collaboration 2002 2004 2000 ALBA 2005 • 4 meetings per year • Planning follow-up • Decision making JM Chaize PCaPac2005

  25. TANGO@esrf Grenoble (France) Light source 6 GeV (844m) 40 beamlines Light for users since 1992 Control system modernization • 150 control computers (accel) • Linux, Windows, Solaris • VME, PC, CompactPCI, SUN Tango used for accelerator control modernization 150 servers running, 546 devices on 54 hosts (RF, Fast feedback, vacuum, tune etc…) Several beamlines use it (progressive migration) JM Chaize PCaPac2005

  26. TANGO@soleil Gif sur Yvette (France) Light Source 2.75 GeV (345m) 23 beamlines Linac control, transfer line ready, Booster in construction Storage ring and 11 beamlines for 2006 Light for users: 2006 PC, CompactPCI, PLCs Windows, Linux, Labview… Tango used for accelerator and beamlines control Lucia beamline operational at SLS (epics interface) Servers for a collection of Cpci boards ready Control of Linac, transfer line OK, Global Screen SCADA, Archiving… Matlab middle layer for prototyping… JM Chaize PCaPac2005

  27. TANGO@elettra Booster Injector FERMI@ELETTRA Trieste (Italy) Light source 2-2.4 GeV (260m) 1Gev Linac, no booster Light for users since 1993 21 beamlines, 1000 users annually Control system modernization: PC with Linux VME, PowerPC, Linux+RTAI • Tango used for accelerator control system upgrade: • 14 servers running (RF Master Oscillator Plant, Digital BPM, Fast Local Orbit Feedback…) • Tango is the control system of the new projects: • Booster injector (construction started beg. 2005) • Free Electron Laser (FEL) FERMI@ELETTRA JM Chaize PCaPac2005

  28. TANGO@alba Barcelona (Spain) Light source 3 GeV (268.8 m) 23 straight sections Emittance = 4.3 nmrad Starting construction soon Light for the users: 2009 Tango will be used for accelerator and beamlines control JM Chaize PCaPac2005

  29. Status • TANGO is mature and well tested • 150 servers and 25 applications installed at ESRF • Control of the first elements of Soleil • A beamline at SLS (managed by Soleil team) • 14 servers and 7 applications running at ELETTRA • The development continues: • On abstract classes code generation, device servers… • Redundancy • Synoptic applications, Application Tool Kit… • New beans ATKviewers • TANGO box soon available pre-installed (via Cosylab) • Training of new users… • Eclipse plugins… JM Chaize PCaPac2005

  30. Thank you for your attention • WWW sites for TANGO • http://www.esrf.fr/tango • Main page • http://www.esrf.fr/tango/tango_src • Download tango • http://sourceforge.net/projects/tango-cs • Share source • http://www.synchrotron-soleil.fr:8001 • http://www.omg.org (All about CORBA) Thanks to TANGO team of ESRF, SOLEIL, ELETTRA and ALBA JM Chaize PCaPac2005

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