The Sardana device pool for SPEC lovers - BLISS Seminar - January 15, 2007 The Sardana device pool for SPEC lovers BLISS Seminar January 15, 2007 Tiago

The Sardana device pool for SPEC lovers - BLISS Seminar - January 15, 2007

The Sardana device poolfor SPEC lovers

BLISS Seminar January 15, 2007

Tiago Coutinho - ALBA


Agenda• What is Sardana • Guidelines• Structure• Sardana and other systems• Adding new features• Examples• Current state• Future


Runtime add/update of new SW featuresEnables creation of lightweight, platform rich client interfaces:•Java/ATK•IPython•PyQT•C++/QT,C++/MFC•etc

Efficient, reliable, time consistent information feedback to the user

Easy creation and deployment of new SW features

What is Sardana?A software system for instrument A software system for instrument

control and data acquisitioncontrol and data acquisition• Client-server architecture• Event driven architecture• Plug-in architecture• Scriptable• Multi-user• Open source

Where have I heard this before?


Guidelines• Long lifetime usage

• Core is HW independent→HW specific code written as plug-ins

• Performance→Minimize HW calls


SardanaSardana

Configuration API

Sardana Structure

Motors / Pseudo MotorsMotors / Pseudo Motors

MCAsMCAs

Motor GroupsMotor Groups

Counters / Pseudo countersCounters / Pseudo counters

LibController LibPseudo Motor Lib…

ConfigurationTool

ClientApplications

.SO.SO

CCDsCCDs

Measurement GroupsMeasurement Groups

ControllersControllers

HW

HW

ET

H

GP

IBC

AN

TA

NG

O D

evic

e S

erve

r

Remote PC

...

HW

HW

HW

HW

HW

HW

Remote PC

SP

EC

HW

HW


Sardana / SPECSardana SPEC

Core code(C++ Tango Device – called Pool)

C code

SardanaConfig tool edconfpseudo motors

constraints*

in python

macro motors

calc motors

macro hooks

in ‘SPEC’ language

IPython CLI SPEC prompt / executable

Extra Server* Macros, Data files, Plot* not yet implemented


Sardana / Tango Abstract classes

Sardana Abstract classesAs much code as possible

↓

interface & generic behavior

No code

↓

Just interface

Adapter design pattern

(aka Wrapper)

Union design pattern

(inheritance & polimorphism)

Evolution is foreseen Entire problem is well known

Dynamic interfaces Static interface


Adding new features• Controllers (motor, counter, MCA, CCD, etc.)• Pseudo Motors• Pseudo Counters• Constraints

• Languages:– Python– C++ (only for controllers)


Write a new motor controllertopBlade

beamBlade 1

Blade 2

bottomBlade

gap

offset

SardanaSardana

dummyctrl01

Motor Controller Lib

topBlade

bottomBlade

Config Interface1. Get the motor controller skeleton

2. Change it to your needs

3. Put it in the right place

4. Create an instance of the controller

5. Create motors

6. Enjoy

class MotorControllerSkeleton(MotorController): """Insert your motor controller description here"""

ctrl_extra_attributes = { # insert your extra features here }

ctrl_features = [ # insert features supported by your controller here ]

def __init__(self,inst,props): MotorController.__init__(self,inst,props) def PreStartAll(self): pass

def PreStartOne(self,axis,pos): return True

def StartOne(self,axis,pos): pass

def StartAll(self): pass . . .

class MotorControllerSkeleton(MotorController): """Insert your motor controller description here"""

ctrl_extra_attributes = { # insert your extra features here }

ctrl_features = [ # insert features supported by your controller here ]

def __init__(self,inst,props): MotorController.__init__(self,inst,props) def PreStartAll(self): pass


def StartOne(self,axis,pos): pass


IDLE : Motor Controller Skeleton.py

Example

class FirePapController(MotorController): ""“An IcePap controller for Sardana"""

ctrl_extra_attributes = { }

ctrl_features = [‘Encoder','Backlash']

def __init__(self,inst,props): MotorController.__init__(self,inst,props)

self.socket_connected = False def PreStartAll(self): pass


def StartOne(self,axis,pos): self.GOAbsolute(axis,pos)


class FirePapController(MotorController): ""“An IcePap controller for Sardana"""

ctrl_extra_attributes = { }

ctrl_features = [‘Encoder','Backlash']

def __init__(self,inst,props): MotorController.__init__(self,inst,props)

self.socket_connected = False def PreStartAll(self): pass


def StartOne(self,axis,pos): self.GOAbsolute(axis,pos)


IDLE : FirePapCtrl.py


Write a new pseudo motortopBlade

beamBlade 1

Blade 2

bottomBlade

gap

offset

SardanaSardana

dummyctrl01

Pseudo Motor Lib

topBlade

bottomBlade

Config Interface1. Get the pseudo motor skeleton

2. Change it to your needs

3. Put it in the right place

4. Create an instance of it

5. Enjoy

class PseudoMotorSkeleton(PseudoMotor):

"""Insert your pseudo motor system description here"""

pseudo_motor_roles = () motor_roles = () class_prop = { # insert your properties here

}

def calc_physical(self,index,pseudo_pos):# insert your code herepass

def calc_pseudo(self,index,physical_pos):# insert your code herepass

class PseudoMotorSkeleton(PseudoMotor):

"""Insert your pseudo motor system description here"""

pseudo_motor_roles = () motor_roles = () class_prop = { # insert your properties here

}

def calc_physical(self,index,pseudo_pos):# insert your code herepass

def calc_pseudo(self,index,physical_pos):# insert your code herepass

IDLE : Pseudo Motor Skeleton.py

class Slit(PseudoMotor):

"""A Slit pseudo motor system for controlling gap and offset pseudo motors"""

pseudo_motor_roles = ("Gap", "Offset") motor_roles = ("sl2t", "sl2b") class_prop = { 'a_string' : { 'Description' : 'string property example',

'Type' : 'PyTango.DevString', 'DefaultValue' : 'something to print' }

} def calc_physical(self,index,pseudo_pos): print self.a_string half_gap = pseudo_pos[0]/2.0 if index == 0: return raw_offset – half_gap else: return raw_offset + 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

class Slit(PseudoMotor):

"""A Slit pseudo motor system for controlling gap and offset pseudo motors"""

pseudo_motor_roles = ("Gap", "Offset") motor_roles = ("sl2t", "sl2b") class_prop = { 'a_string' : { 'Description' : 'string property example',

'Type' : 'PyTango.DevString', 'DefaultValue' : 'something to print' }

} def calc_physical(self,index,pseudo_pos): print self.a_string half_gap = pseudo_pos[0]/2.0 if index == 0: return raw_offset – half_gap else: return raw_offset + 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

IDLE : Slit.py

gap

offset

Example

# ipython Welcome to the IPython Sardana CLI SPEC emulator

1.ISardana> wa

Current Positions (user, dial)

topBlade 100.00 0.0bottomBlade 50.00 0.0gap 50.00offset 75.00

2.ISardana> mv gap 10

3.ISardana> wa


topBlade 80.00 -20.0bottomBlade 70.00 20.0gap 10.00offset 75.00

4.ISardana>


1.ISardana> wa




3.ISardana> wa


topBlade 80.00 -20.0bottomBlade 70.00 20.0gap 10.00offset 75.00

4.ISardana>

IPython

By the way:By the way:

This is a This is a 300300 line of line of code example!code example!



Current state• Server

– Multi-threaded Pool core

– Motor Controller– Motor– Pseudo Motor– Motor Group– Counter Controller*– Counter, Timer*

• Client– IPython (not up to date)– Java ATK configuration

(up to date)

• Simulators– Motor Controller – Counter Controller

• Motor Controllers:– IcePap

*Early development stage


Future• data acquisition

– counter– timer– pseudo counter– multimeter – MCA– CCD– data storage– ...

• scan operations• data acquisition simulator

• geometry library• safety

– static pre-conditions– dynamic limit check– ...

• IPython client• GUI• Plotting• Macros• windows platform

• SPEC interaction

• …


Thank you for your time

QuestionsQuestions


Nice Features


1.ISardana> wa




3.ISardana>


1.ISardana> wa




3.ISardana>

IPython

SardanaSardana

•Add/modify features without havingAdd/modify features without havingrestart the serverrestart the server

•Multiple clientsMultiple clients

•Copy/paste beamlineCopy/paste beamlineconfigurationsconfigurations


Sardana Layer

CORBACORBA

SardanaSardana

TangoTango

motors, counters, scans, procedures, data files

IPythonIPython ATKATK

SPECSPEC

BLISS BLISS FrameworkFramework

Network Abstraction Layer

Devices, commands, attributes, properties

CLICLIuser interface

Documents

The Sardana device pool for SPEC lovers - BLISS Seminar - January 15, 2007 The Sardana device pool for SPEC lovers BLISS Seminar January 15, 2007 Tiago