Writing a Tango
class
09/10/2011 Tango Workshop - Icalepcs 2011 1
The hardware (Arduino)
A basic class using Pogo
A Python Tango class for the
temperature sensor
The same Tango class in Cpp
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The hardware
A temperature controller
– Based on Arduino UNO board
• http://arduino.cc/en/
– Temperature sensor is a LM 35 chip from NI
– Arduino UNO board connected to your PC using a
USB port
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The hardware
USB
LM 35
Vs Vout
GND
LM 35 Vs pin LM 35 Vout pin
LM 35 GND pin
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The hardware
Arduino UNO
– Atmega 38 microcontroller 8 bits
• 16 Mhz – 32 KB flash + 2KB SRAM + 1 KB EEPROM
– 14 digital I/O (6 PWM)
– 6 analog inputs
• 10 bits / 0 – 5 Volts
– 1 Serial line
• External or via USB
LM 35
– 10 mV / Celcius deg
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The hardware
A serial line is simulated in the USB connection
A small program running in the Arduino controller chip
has been written
– If the Arduino receives the character 'T', it returns
the temperature (in Celsius degree) coded as a
float number in a string (eg: '22.34')
– 'Protocol error' is returned for all other character
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Writing a Tango class
Chat with the equipment responsible
– Which device states?
– Which commands?
– Which attributes?
No real rules to decide what has to be implemented
using commands or attributes
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Writing a Tango class
Writing Tango device class need some glue code. We
are using a code generator with a GUI called POGO:
Program Obviously used to Generate Object
Following some simple rules, it's possible to use it
during all the device class development cycle (not
only for the first generation)
POGO generates
– C++, Python Tango device class glue code
– Makefile (C++)
– Basic Tango device class documentation (HTML)
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Writing a Tango class
Using Pogo you
– Give Tango class name
– Define Tango device state(s)
– Define Tango device command(s)
– Define Tango device attribute(s)
– Define Tango device state machine
– Define Tango device property(ies)
– Enter Tango device documentation
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A simple Tango class
Let's generate a SkiLift Tango class
– 3 states: ON, OFF, FAULT
– 3 commands
Name In Out Allowed
Reset Void Void If FAULT
On Void Void If OFF
Off Void Void Always
– 3 attributes
Name Type Format Writable
Speed double scalar read/write
Wind_speed double scalar read
Seats_pos long spectrum read
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The temperature sensor Tango class
Tango class name: GrenobleTemp
2 states: OFF, ON (ALARM)
1 attribute:
– Temp
• Scalar, float, read
• Label = Temperature, unit = deg
• Quality factor invalid if state != ON, ALARM
2 commands
– On allowed only if OFF state
– Off allowed only in ON state
1 device property: SerialLine - string
Python as language
Start “pogo-6” from a shell window
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Device server in database
By default, POGO generates
– Device Server name = Tango class name
• Server name = class name = “GrenobleTemp”
Start Jive to register device server process in
database
Click “Edit / Create server” to register your device
server
Choose one instance name
Choose a device name following Tango device name
syntax
domain/family/member
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Device Server startup sequence
Connect to DB device using TANGO_HOST env.
variable (or /etc/tangorc)
Send to DB device server executable name, instance
name and Tango class
DB returns device name list
FOR each device(s)
– Ask DB for device properties
– Create device
– Send device network connection parameters to DB
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Client create connection
Connect to DB device using TANGO_HOST env.
variable (or /etc/tangorc)
Ask DB what are the network connection parameters
for device “domain/family/member”
Create direct connection to the device
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Coding a Tango class
Four things to do
– Device creation
– Implementing commands
– Reading attribute(s)
– Writing attribute(s)
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Coding a Tango class
Which methods can I use within a Tango class?
– Your class inherits from a Tango library class named
Device_<x>Impl
• All methods from Device_<x>Impl class (mapped to
Python)
– Some methods received a Attribute or Wattribute object
• All the methods of these two classes wrapped to Python
Doc available at http://www.tango-controls.org
– Document/Tango kernel/PyTango for Python
– Document/Tango kernel/Tango device server classes
for C++
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Creating the device
A init_device() method to construct the device
– GrenobleTemp.init_device()
A delete_device() to destroy the device
– GrenobleTemp.delete_device()
All resources acquired in init_device() must be
returned in delete_device()
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Creating the device
The init_device() method
– Init state (and status if required)
– Init (create) local data
#------------------------------------------------------------------
# Device initialization
#------------------------------------------------------------------
def init_device(self):
print "In ", self.get_name(), "::init_device()"
self.set_state(PyTango.DevState.OFF)
self.get_device_properties(self.get_device_class())
self.ser = serial.Serial(self.SerialLine,9600)
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Implementing a command
A hook → always_executed_hook()
– GrenobleTemp.always_executed_hook()
If state management is needed, one is_xxx_allowed()
method
– bool GrenobleTemp.is_On_allowed()
One method per command
– GrenobleTemp.On()
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Implementing a command
GrenobleTemp.is_On_allowed()
def is_On_allowed(self):
if self.get_state() in [PyTango.DevState.ON]:
# End of Generated Code
# Re-Start of Generated Code
return False
return True
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Implementing a command
GrenobleTemp.On command coding
def On(self):
print "In ", self.get_name(), "::On()"
# Add your own code here
self.set_state(PyTango.DevState.ON)
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Reading attribute
A hook → always_executed_hook()
– GrenobleTemp.always_executed_hook()
One method to read hardware
– GrenobleTemp.read_attr_hardware(data)
If state management is needed, one is_xxx_allowed()
method
– bool GrenobleTemp.is_Temp_allowed(req_type)
One method per attribute
– GrenobleTemp.read_Temp(Attribute)
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Reading attribute
read_attr_hardware() method
#------------------------------------------------------------------
# Read Attribute Hardware
#------------------------------------------------------------------
def read_attr_hardware(self,data):
print "In ", self.get_name(), "::read_attr_hardware()"
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Reading attribute
read_Temp() method
def read_Temp(self, attr):
print "In ", self.get_name(), "::read_Temp()"
# Add your own code here
sta = self.get_state()
if sta in [PyTango.DevState.ON,PyTango.DevState.OFF]
self.ser.write('T')
answer = self.ser.readline()
stripped_answer = answer.rstrip()
self.debug_stream("Temperature returned by arduino = ",stripped_answer
try:
attr_Temp_read = float(stripped_answer)
attr.set_value(attr_Temp_read)
except ValueError:
PyTango.Except.throw_exception("GrenobleTemp_WrongAnswer",
"Wrong answer from Arduino. Can't be converted to float","GrenobleTemp.read_Temp")
else:
attr.set_quality(PyTango.AttrQuality.ATTR_INVALID)
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Writing attribute
A hook → always_executed_hook()
– GrenobleTemp.always_executed_hook()
If state management is needed, one is_xxx_allowed()
method
– bool GrenobleTemp.is_Temp_allowed(req_type)
One method per attribute
– GrenobleTemp.write_xxx(WAttribute)
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Writing attribute
write_xxx() method
def write_xxxx(self, attr):
print "In ", self.get_name(), "::write_Speed()"
data = attr.get_write_value()
.....
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Tango class in C++
Use POGO 7 (latest release) to generate C++ Tango
class
– Support Tango class inheritance
– Support Multi-Tango class device server
– Based on a DSL (Xtext - Xpand)
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GrenobleTemp in C++
Use the already existing Tango class to control serial
line.
– Available in SourceForge tango-ds project
– Still in CVS!
• Module name = SerialLine
– Doc not available in pink site due to actual migration /
merging task between CVS and SVN
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GrenobleTemp in C++
GrenobleTemp uses a SerialLine Tango device to
control the serial line
– Use Pogo “Tools/Multi Classes Manager” to create the
device server embedding 2 Tango classes
– GrenobleTemp device property is now SerialDevice
and initialized to the Serial line Tango device name
GrenobleTemp Tango class is a client of the serial
line Tango device.
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