March 2005 JM Chaize PCaPac2005 1

TANGO

A control system framework for accelerator and beamlines

• Design principles• Basic concepts• Status and projects

Jean-Michel ChaizeOn behalf of TANGO teams ESRF, SOLEIL,ELETTRA, ALBA

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TANGO design principles

Da Vinci

• Innovation – services e.g. web services, administration,

monitoring…– automation e.g. Sequencing, scanning…

Budda

• We Change – RPC -> CORBA– OS9 -> Windows and Linux– C,TCL -> C++, Java, Python

Darwin

• We keep (Natural Selection)– distributed objects– Network– Unix

Control system running since 1991

Improvement became difficult

=> We decided to refurbish

Control system running since 1991

Improvement became difficult

=> We decided to refurbish

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DataAnalysis

Config Archiver

What is TANGO?

TANGO Software Bus

Generic Services

Hardware

Device

Scanserver

Sequencer

User environmentMatlab,Labview Igor, Python

Device

Hardware

Device

Hardware

Device

Hardware

Device

Hardware

Catalog of device servers

development tools

InterfaceGenerator

API Library

logging

JavaApplication Tool-Kit

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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

CORBACommon Object Request Broker Architecture

• BUT…– Not trivial to use…– Does not address specific needs of control.

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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

CORBA

TANGO

Control System

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TANGO software Bus

Device class

Interface

HW (motor…)

The device is a remote object

Standard interface for hardware equipment or service

The fundamental brick of TANGO is the Device

network

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Example: motor interface:

MOTOR:Commands: On(), Off(), …

Attributes: Speed, Position

State: On, Off, Alarm, Fault

Round robin buffer, polling thread, event triggering…

Interface

Hardware control code

Automaticcode generator

To be writtenBy the programer

TANGO devices

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Pogo code generator

C++ or Java

Attributes propertiesFor genericity

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TANGO devices

• 1 Device can also interface complex systems– Bridge to other protocols

TANGO Software Bus

DeviceLINAC

other Control system

e.g. TACORPC

Interface

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TANGO devices

• 1 Device can also interface complex systems– Bridge to other protocols

TANGO Software Bus

DeviceID Channel Access

Interface

Build a TANGO object from a set of channels

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TANGO devices

• 1 Device can also interface complex systems– Bridge to other protocols

TANGO Software Bus

DeviceAir Conditioning

Infrastructure

server

OPC

Interface

Build TANGO device from a set of OPC TAGs

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TANGO devices

• 1 Device can also interface complex systems– Bridge to other protocols

TANGO Software Bus

DeviceI/O Modbus TCP/IP

Interface

Embeddedsystem

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TANGO devices

• 1 Device can also interface complex systems– Bridge to other protocols

TANGO Software Bus

DeviceI/O DataSocket

Interface

Build a TANGO device from DataSocket urls

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TANGO Communication

• Synchronous

TANGO Software Bus

server

Client

Sendrequest Wait Get Answer

Do the job

~0.2 ms

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TANGO Communication

• Asynchronous

TANGO Software Bus

server

Client

Sendrequest Do other

jobGet Answer When needed

Do the job

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TANGO Communication

• Event Driven

TANGO Software Bus

server

Client

Subscribeonce

Do otherjob

Do its job Signal event When occurs(state change)

Callback

State change eventOn change eventPeriodic eventArchive event….Corba

Notificationservice

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TANGO software Bus

Standardise interfaces of equipment of the same types

Interface

Implem

Concrete

Abstractmotor

Implem

Concrete

Implem

Concrete

Implem

Concrete

Different types of motors

Interface

Implem

Concrete

Abstractpowersupply

Implem

Concrete

Implem

Concrete

Implem

Concrete

Different types of powersupplies

Abstract interface classes

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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…

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TANGO: Many clients available

DevDev Dev Dev Dev Dev

SPEC

TANGO Software Bus

OPC

Dev

TANGOJAVA ATK(Swing)

QTScan

Service

Java, C++,PythonLinux, Windows, Solaris

Linux, Windows, Solaris Labview RT

Astor: Administration tool

Jive: Database browsing

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ATKpanel a generic client

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Jdraw: Generic Synoptic animation

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20042000

2005

2002

4 meetings per year

•Planning follow-up

•Decision making

TANGO Collaboration

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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)

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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…

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TANGO@elettra

Booster Injector

FERMI@ELETTRA

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

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

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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

TANGO@alba

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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…

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• 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