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Tango manual 9.pdf

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    Introduction
    Introduction to device server
    Device server history
    Getting Started
    A C++ TANGO client
    A TANGO device server
    The commands and attributes code
    The DevSimple command
    The DevArray command
    The DevString command
    The DevStrArray command
    The DevStruct command
    The three attributes
    The TANGO device server model
    Introduction to CORBA
    The model
    The device
    The commands
    The TANGO attributes
    The TANGO pipes
    Command, attributes or pipes ?
    The CORBA attributes
    The remaining CORBA operations
    The special case of the device state and status
    The device polling
    The server
    The Tango Logging Service
    The database
    The controlled access
    The Application Programmers Interfaces
    Rules of the API
    Communication between client and server using the API
    Tango events
    Writing a TANGO client using TANGO APIs
    Introduction
    Getting Started
    Basic Philosophy
    Data types
    Request model
    Synchronous model
    Asynchronous model
    Events
    Introduction
    Event definition
    Event types
    Event filtering (Removed in Tango release 8 and above)
    Application Programmer's Interface
    Configuring events
    change
    periodic
    archive
    C++ Clients
    Subscribing to events
    The CallBack class
    Unsubscribing from an event
    Extract buffered event data
    Example
    Group
    Getting started with Tango group
    Forward or not forward?
    Executing a command
    Obtaining command results
    Case 1: a command, no argument
    A few words on error handling and data extraction
    Case 2: a command, one argument
    Case 3: a command, several arguments
    Reading attribute(s)
    Obtaining attribute values
    A few words on error handling and data extraction
    Writing an attribute
    Obtaining acknowledgement
    Case 1: one value for all devices
    Case 2: a specific value per device
    Reading/Writing device pipe
    Reading a pipe
    Extracting data with pipe content prior knowledge
    Extracting data in a generic way (without prior knowledge)
    Error management
    Writing a pipe
    Error management
    Device locking
    Reconnection and exception
    Thread safety
    Compiling and linking a Tango client
    TangoATK Programmer's Guide
    Introduction
    Assumptions
    The key concepts of TangoATK
    Minimize development time
    Minimize bugs in applications
    Attributes and commands from different devices
    Avoid code duplication
    The real getting started
    Single device applications
    Multi device applications
    More on displaying attributes
    Connecting an attribute to a viewer
    Synoptic viewer
    A short note on the relationship between models and viewers
    Listeners
    The key objects of TangoATK
    The Refreshers
    What happens on a refresh
    The DeviceFactory
    The AttributeFactory and the CommandFactory
    The AttributeList and the CommandList
    The Attributes
    The hierarchy
    The Commands
    Events and listeners
    Writing a TANGO device server
    The device server framework
    Naming convention and programming language
    The device pattern
    The Tango base class (DeviceImpl class)
    Description
    Contents
    The DbDevice class
    The Command class
    Description of the inheritance model
    Description of the template model
    Contents
    The DeviceClass class
    Description
    Contents
    The DbClass class
    The MultiAttribute class
    Description
    Contents
    The Attribute class
    Description
    Contents
    The WAttribute class
    Description
    Contents
    The Attr class
    The SpectrumAttr class
    The ImageAttr class
    The StepperMotor class
    Description
    Definition
    The StepperMotorClass class
    Description
    Definition
    The DevReadPosition class
    Description
    Definition
    The PositionAttr class
    Description
    Definition
    Startup of a device pattern
    Command execution sequence
    The automatically added commands
    Reading/Writing attributes
    Reading attributes
    Writing attributes
    The device server framework
    Vocabulary
    The DServer class
    The Tango::Util class
    Description
    Contents
    A complete device server
    Device server startup sequence
    Exchanging data between client and server
    Command / Attribute data types
    Using data types with C++
    Basic types
    Strings
    Sequences
    Structures
    The DevState data type
    Passing data between client and server
    C++ mapping for IDL any type
    Inserting/Extracting TANGO basic types
    Inserting/Extracting TANGO strings
    Inserting/Extracting TANGO sequences
    Inserting/Extracting TANGO structures
    Inserting/Extracting TANGO enumeration
    The insert and extract methods of the Command class
    C++ memory management
    For string
    For array/sequence
    For string array/sequence
    For Tango composed types
    Reporting errors
    Example of throwing exception
    The Tango Logging Service
    Logging Targets
    Logging Levels
    Sending TANGO Logging Messages
    Logging macros in C++
    C++ logging in the name of a device
    Writing a device server process
    Understanding the device
    Defining device commands
    Standard commands
    Choosing device state
    Device server utilities to ease coding/debugging
    The device server verbose option
    C++ utilities to ease device server coding
    Avoiding name conflicts
    The device server main function
    The DServer::class_factory method
    Writing the StepperMotorClass class
    The class declaration file
    The singleton related methods
    The command_factory method
    The device_factory method
    The attribute_factory method
    The DevReadPositionCmd class
    The class declaration file
    The class constructor
    The is_allowed method
    The execute method
    The PositionAttr class
    The class declaration file
    The class constructor
    The is_allowed method
    The read method
    The StepperMotor class
    The class declaration file
    The constructors
    The methods used for the DevReadDirection command
    The methods used for the Position attribute
    The methods used for the SetPosition attribute
    Retrieving device properties
    The remaining methods
    Device server under Windows
    The Tango device server graphical interface
    The device server main window
    The console window
    The help window
    MFC device server
    The InitInstance method
    The ExitInstance method
    Example of how to build a Windows device server MFC based
    Win32 application
    Device server as service
    The service class
    The main function
    Service options and messages
    Tango device server using MFC as Windows service
    Compiling, linking and executing a TANGO device server process
    Compiling and linking a C++ device server
    On UNIX like operating system
    Supported development tools
    Compiling
    Linking
    On Windows using Visual Studio
    Running a C++ device server
    Advanced programming techniques
    Receiving signal
    Using signal
    Exiting a device server gracefully
    Inheriting
    Writing the BClass
    Writing the B class
    Writing B class specific command
    Redefining A class command
    Using another device pattern implementation within the same server
    Device pipe
    Client reading a pipe
    Client writing a pipe
    Advanced features
    Attribute alarms
    The level alarms
    The Read Different than Set (RDS) alarm
    Enumerated attribute
    Usage in a Tango class
    Setting the labels with enumeration compile time knowledge
    Setting the labels without enumeration compile time knowledge
    Setting the attribute value
    Usage in a Tango client
    Device polling
    Introduction
    Configuring the polling system
    Configuring what has to be polled and how
    Configuring the polling threads pool
    Choosing polling algorithm
    Reading data from the polling buffer
    Retrieving command/attribute result history
    Externally triggered polling
    Filling polling buffer
    Setting and tuning the polling in a Tango class
    Threading
    Device server process
    Serialization model within a device server
    Attribute Serialization model
    Client process
    Generating events in a device server
    Using multicast protocol to transfer events
    Configuring events to use multicast transport
    Default multicast related properties
    Memorized attribute
    Forwarded attribute
    Definition
    Coding
    Transferring images
    Device server with user defined event loop
    Device server using file as database
    Device server without database
    Example of device server started without database usage
    Connecting client to device within a device server started without database
    Multiple database servers within a Tango control system
    The Tango controlled access system
    User rights definition
    Running a Tango control system with the controlled access
    Reference part
    Device parameter
    The device black box
    The device description field
    The device state and status
    The device polling
    The device logging
    Device attribute
    Hard-coded device attribute parameters
    The Attribute data type
    The attribute data format
    The max_dim_x and max_dim_y parameters
    The attribute read/write type
    The associated write attribute parameter
    The attribute display level parameter
    The root attribute name parameter
    Modifiable attribute parameters
    General purpose parameters
    The format attribute parameter
    The min_value and max_value parameters
    The memorized attribute parameter
    The alarm related configuration parameters
    The min_alarm and max_alarm parameters
    The min_warning and max_warning parameters
    The delta_t and delta_val parameters
    The event related configuration parameters
    The rel_change and abs_change parameters
    The periodic period parameter
    The archive_rel_change, archive_abs_change and archive_period parameters
    Setting modifiable attribute parameters
    Resetting modifiable attribute parameters
    Device pipe
    Hard-coded device pipe parameters
    The pipe read/write type.
    The pipe display level parameter
    Modifiable pipe parameters
    Setting modifiable pipe parameters
    Resetting modifiable pipe parameters
    Device class parameter
    The device black box
    Automatically added commands
    The State command
    The Status command
    The Init command
    DServer class device commands
    The State command
    The Status command
    The DevRestart command
    The RestartServer command
    The QueryClass command
    The QueryDevice command
    The Kill command
    The QueryWizardClassProperty command
    The QueryWizardDevProperty command
    The QuerySubDevice command
    The StartPolling command
    The StopPolling command
    The AddObjPolling command
    The RemObjPolling command
    The UpdObjPollingPeriod command
    The PolledDevice command
    The DevPollStatus command
    The LockDevice command
    The UnLockDevice command
    The ReLockDevices command
    The DevLockStatus command
    The EventSubscriptionChange command (C++ server only)
    The ZmqEventSubscriptionChange command
    The EventConfirmSubscription command
    The AddLoggingTarget command
    The RemoveLoggingTarget command
    The GetLoggingTarget command
    The GetLoggingLevel command
    The SetLoggingLevel command
    The StopLogging command
    The StartLogging command
    DServer class device properties
    Tango log consumer
    The available Log Consumer
    The Log Consumer interface
    Control system specific
    The device class documentation default value
    The services definition
    Tuning the event system buffers (HWM)
    Allowing NaN when writing attributes (floating point)
    Tuning multicasting event propagation
    Summary of CtrlSystem free object properties
    C++ specific
    The Tango master include file (tango.h)
    Tango specific pre-processor define
    Tango specific types
    Template command model related type
    Tango device state code
    Tango data type
    Tango command display level
    Device server process option and environment variables
    Classical device server
    Device server process as Windows service
    Environment variables
    TANGO_HOST
    Tango Logging Service (TANGO_LOG_PATH)
    The database and controlled access server (MYSQL_USER, MYSQL_PASSWORD and MYSQL_HOST)
    The controlled access
    The event buffer size
    The TANGO IDL file : Module Tango
    Aliases
    Enums
    Structs
    Unions
    Exceptions
    Interface Tango::Device
    Attributes
    Operations
    Interface Tango::Device_2
    Operations
    Interface Tango::Device_3
    Operations
    Interface Tango::Device_4
    Operations
    Interface Tango::Device_5
    operations
    Tango object naming (device, attribute and property)
    Device name
    Full object name
    Some examples
    Full device name examples
    Attribute name examples
    Attribute property name
    Device property name
    Class property name
    Device and attribute name alias
    Reserved words and characters, limitations
    Starting a Tango control system
    Without database
    With database
    With database and event
    For Tango releases lower than 8
    For release 8 and above
    With file used as database
    With file used as database and event
    For Tango releases lower than 8
    For release 8 and above
    With the controlled access
    The notifd2db utility
    The notifd2db utility usage (For Tango releases lower than 8)
    The property file syntax
    Property file usage
    Property file syntax
    The TANGO Control System Manual Version 9.1 The TANGO Team September 18, 2015
    Contents 1 Introduction 1.1 1.2 Device server history . Introduction to device server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 Getting Started . . . . . 2.1 A C++ TANGO client . 2.2 A TANGO device server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.2.1 The commands and attributes code . . . . . . . . . . . . . . . . . . . . . . . . . . The DevSimple command . . . . . . . . . . . . . . . . . . . . . . . . . The DevArray command . . . . . . . . . . . . . . . . . . . . . . . . . The DevString command . . . . . . . . . . . . . . . . . . . . . . . . . The DevStrArray command . . . . . . . . . . . . . . . . . . . . . . . . The DevStruct command . . . . . . . . . . . . . . . . . . . . . . . . . The three attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.2.1.1 2.2.1.2 2.2.1.3 2.2.1.4 2.2.1.5 2.2.1.6 . . . . . . . . . . . . . . . . . . 3 The TANGO device server model . . . . 3.1 3.2 The model . 3.3 The device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Introduction to CORBA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3.1 The commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3.2 The TANGO attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3.3 The TANGO pipes . 3.3.4 Command, attributes or pipes ? . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3.5 The CORBA attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3.6 The remaining CORBA operations . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3.7 The special case of the device state and status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3.8 The device polling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.4 The server . . 3.5 The Tango Logging Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.6 The database . 3.7 The controlled access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.8 The Application Programmers Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.8.1 Rules of the API 3.8.2 Communication between client and server using the API . . . . . . . . . . . . . . 3.8.3 Tango events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 Writing a TANGO client using TANGO APIs . Introduction . . 4.1 . 4.2 Getting Started . . 4.3 Basic Philosophy . . 4.4 Data types . . 4.5 Request model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 12 12 13 14 14 15 15 16 16 17 17 18 19 22 22 23 23 23 24 24 25 25 25 26 26 26 26 27 27 27 27 28 29 33 33 33 33 33 34
    CONTENTS . . . . . . . . . . . . . . . . . . . . . . 4.6.5.2 4.6.5.1 . . . . . . . . . 4.7 Group . 4.6 Events . C++ Clients . . . . . . Introduction . . . Synchronous model . 4.6.5.1.1 4.6.5.1.2 4.6.5.1.3 change . . . periodic . . archive . . . 4.6.5.2.1 4.6.5.2.2 4.6.5.2.3 4.6.5.2.4 4.6.5.2.5 . . 4.5.1 . 4.5.2 Asynchronous model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.6.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.6.2 Event definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.6.3 Event types . . . . . . . . . . . . . . . . 4.6.4 Event filtering (Removed in Tango release 8 and above) 4.6.5 Application Programmer’s Interface . . . . . . . . . . . . . . . . . . . . . . . . . Configuring events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Subscribing to events . . . . . . . . . . . . . . . . . . . . . . The CallBack class . . . . . . . . . . . . . . . . . . . . . . . Unsubscribing from an event . . . . . . . . . . . . . . . . . . Extract buffered event data . . . . . . . . . . . . . . . . . . . Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.7.1 Getting started with Tango group . . . . . . . . . . . . . . . . . . . . . . . . . . 4.7.2 Forward or not forward? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.7.3 Executing a command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.7.3.1 Obtaining command results . . . . . . . . . . . . . . . . . . . . . . . . 4.7.3.2 Case 1: a command, no argument . . . . . . . . . . . . . . . . . . . . . 4.7.3.3 A few words on error handling and data extraction . . . . . . . . . . . . Case 2: a command, one argument 4.7.3.4 . . . . . . . . . . . . . . . . . . . . Case 3: a command, several arguments . . . . . . . . . . . . . . . . . . 4.7.3.5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.7.4.1 Obtaining attribute values . . . . . . . . . . . . . . . . . . . . . . . . . 4.7.4.2 A few words on error handling and data extraction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Case 1: one value for all devices . . . . . . . . . . . . . . . . . . . . . Case 2: a specific value per device . . . . . . . . . . . . . . . . . . . . 4.8 Reading/Writing device pipe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Extracting data with pipe content prior knowledge . . . . . . . . . . . . Extracting data in a generic way (without prior knowledge) . . . . . . . Error management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Error management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.9 Device locking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.10 Reconnection and exception . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.11 Thread safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.12 Compiling and linking a Tango client . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.7.5.1 Obtaining acknowledgement 4.7.5.2 4.7.5.3 4.7.4 Reading attribute(s) 4.7.5 Writing an attribute 4.8.1 Reading a pipe . 4.8.2 Writing a pipe 4.8.1.1 4.8.1.2 4.8.1.3 4.8.2.1 . . . . . . . . . . . . . . . . . 5 TangoATK Programmer’s Guide . . Introduction . . 5.1.1 Assumptions . . . . . . . . . 5.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2 The key concepts of TangoATK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2.1 Minimize development time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2.2 Minimize bugs in applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2.3 Attributes and commands from different devices . . . . . . . . . . . . . . . . . . 5.2.4 Avoid code duplication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 35 35 36 36 36 36 38 39 39 39 40 40 40 40 41 42 42 43 45 45 47 47 47 48 49 51 52 55 55 55 57 57 57 58 60 61 61 62 63 63 65 65 66 66 66 68 68 68 68 69 69 69 69
    CONTENTS . . 5.3.4.1 Listeners . 5.3.3.1 5.3.3.2 5.3 The real getting started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.3.1 Single device applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.3.2 Multi device applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.3.3 More on displaying attributes Connecting an attribute to a viewer . . . . . . . . . . . . . . . . . . . . Synoptic viewer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.3.4 A short note on the relationship between models and viewers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.4 The key objects of TangoATK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.4.1.1 What happens on a refresh . . . . . . . . . . . . . . . . . . . . . . . . 5.4.2 The DeviceFactory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.4.3 The AttributeFactory and the CommandFactory . . . . . . . . . . . . . . . . . . . 5.4.4 The AttributeList and the CommandList . . . . . . . . . . . . . . . . . . . . . . . 5.4.5 The Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Events and listeners . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.4.1 The Refreshers . 5.4.6 The Commands . The hierarchy . . . 5.4.5.1 5.4.6.1 . . . . . . . . . . . . 6 Writing a TANGO device server 6.1.2.4 6.1.2.1 6.1.2.5 6.1.2.6 6.1.2.2 6.1.2.3 6.1.2.4.1 6.1.2.4.2 6.1.2.1.1 6.1.2.1.2 6.1.2.3.1 6.1.2.3.2 6.1.2.3.3 Description . Contents . . . Description . Contents . . . Description of the inheritance model Description of the template model Contents . . . 6.1 The device server framework . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.1.1 Naming convention and programming language . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.1.2 The device pattern . The Tango base class (DeviceImpl class) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The DbDevice class . . . . . . . . . . . . . . . . . . . . . . . . . . . . The Command class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The DeviceClass class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The DbClass class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The MultiAttribute class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.1.2.9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.1.2.10 The SpectrumAttr class . . . . . . . . . . . . . . . . . . . . . . . . . . 6.1.2.11 The ImageAttr class . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.1.2.12 The StepperMotor class . . . . . . . . . . . . . . . . . . . . . . . . . . 6.1.2.12.1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.1.2.12.2 Definition . . 6.1.2.13 The StepperMotorClass class . . . . . . . . . . . . . . . . . . . . . . . 6.1.2.13.1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.1.2.13.2 Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.1.2.14 The DevReadPosition class . . . . . . . . . . . . . . . . . . . . . . . . Description . Contents . . . Description . Contents . . . Description . Contents . . . The WAttribute class The Attribute class . 6.1.2.7.1 6.1.2.7.2 6.1.2.8.1 6.1.2.8.2 6.1.2.6.1 6.1.2.6.2 The Attr class 6.1.2.7 6.1.2.8 3 70 70 74 75 75 78 82 82 83 83 84 84 84 84 84 85 85 86 88 88 88 88 90 90 90 91 91 91 91 92 92 92 92 93 93 93 93 93 93 93 93 93 93 94 94 94 94 94 94 95 95 95 96
    CONTENTS 4 . . . . 6.1.7.3.1 6.1.7.3.2 6.2.1.1.1 6.2.1.1.2 6.2.1.1.3 6.2.1.1.4 6.2.1.1.5 6.1.6.1 6.1.6.2 Writing attributes . . . . The DServer class . The Tango::Util class 6.1.7.1 Vocabulary . 6.1.7.2 6.1.7.3 6.1.2.14.1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.1.2.14.2 Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.1.2.15 The PositionAttr class . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.1.2.15.1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.1.2.15.2 Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.1.3 Startup of a device pattern . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.1.4 Command execution sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.1.5 The automatically added commands . . . . . . . . . . . . . . . . . . . . . . . . . 6.1.6 Reading/Writing attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Reading attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96 96 96 96 97 97 97 99 99 99 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100 6.1.7 The device server framework . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 . . . . . . . . . . . . . . . . . . . . . . . . . . 102 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 Contents . . . 6.1.7.4 A complete device server . . . . . . . . . . . . . . . . . . . . . . . . . 103 6.1.7.5 Device server startup sequence . . . . . . . . . . . . . . . . . . . . . . 103 6.2 Exchanging data between client and server . . . . . . . . . . . . . . . . . . . . . . . . . . 104 6.2.1 Command / Attribute data types . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 6.2.1.1 Using data types with C++ . . . . . . . . . . . . . . . . . . . . . . . . 105 . . . . . . . . . . . . . . . . . . . . . . . . . . 105 Basic types . . . . . . . . . . . . . . . . . . . . . . . . . . 106 Strings . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 Sequences . Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108 The DevState data type . . . . . . . . . . . . . . . . . . . . . 108 Passing data between client and server . . . . . . . . . . . . . . . . . . . . . . . . 109 C++ mapping for IDL any type . . . . . . . . . . . . . . . . . . . . . . 109 6.2.2.1 Inserting/Extracting TANGO basic types . . . . . . . . . . . . 109 Inserting/Extracting TANGO strings . . . . . . . . . . . . . . 109 Inserting/Extracting TANGO sequences . . . . . . . . . . . . 109 Inserting/Extracting TANGO structures . . . . . . . . . . . . 109 Inserting/Extracting TANGO enumeration . . . . . . . . . . . 110 The insert and extract methods of the Command class . . . . . . . . . . 110 6.2.3 C++ memory management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 For string . . . . . For array/sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 For string array/sequence . . . . . . . . . . . . . . . . . . . . . . . . . 114 For Tango composed types . . . . . . . . . . . . . . . . . . . . . . . . 115 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 Example of throwing exception . . . . . . . . . . . . . . . . . . . . . . 115 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 Sending TANGO Logging Messages . . . . . . . . . . . . . . . . . . . . . . . . . 117 Logging macros in C++ . . . . . . . . . . . . . . . . . . . . . . . . . . 117 6.3.3.1 6.3.3.2 C++ logging in the name of a device . . . . . . . . . . . . . . . . . . . 117 6.4 Writing a device server process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 6.4.1 Understanding the device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 6.4.2 Defining device commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120 Standard commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120 6.4.3 Choosing device state 6.4.4 Device server utilities to ease coding/debugging . . . . . . . . . . . . . . . . . . . 121 6.3 The Tango Logging Service . . 6.3.1 Logging Targets 6.3.2 Logging Levels . 6.3.3 6.2.2.1.1 6.2.2.1.2 6.2.2.1.3 6.2.2.1.4 6.2.2.1.5 6.2.2.2 6.2.3.1 6.2.3.2 6.2.3.3 6.2.3.4 6.2.4.1 6.2.2 6.2.4 Reporting errors . . . . 6.4.2.1
    CONTENTS 5 6.4.4.1 6.4.4.2 6.4.9.1 6.4.9.2 6.4.9.3 6.4.9.4 6.4.10 The PositionAttr class 6.5.2 MFC device server . 6.4.11 The StepperMotor class 6.4.8.1 6.4.8.2 6.4.8.3 6.4.8.4 6.4.8.5 The device server verbose option . . . . . . . . . . . . . . . . . . . . . 121 C++ utilities to ease device server coding . . . . . . . . . . . . . . . . . 121 6.4.5 Avoiding name conflicts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122 6.4.6 The device server main function . . . . . . . . . . . . . . . . . . . . . . . . . . . 122 6.4.7 The DServer::class_factory method . . . . . . . . . . . . . . . . . . . . . . . . . 123 6.4.8 Writing the StepperMotorClass class . . . . . . . . . . . . . . . . . . . . . . . . . 124 . . . . . . . . . . . . . . . . . . . . . . . . . 124 The class declaration file The singleton related methods . . . . . . . . . . . . . . . . . . . . . . . 125 The command_factory method . . . . . . . . . . . . . . . . . . . . . . 126 The device_factory method . . . . . . . . . . . . . . . . . . . . . . . . 127 The attribute_factory method . . . . . . . . . . . . . . . . . . . . . . . 127 6.4.9 The DevReadPositionCmd class . . . . . . . . . . . . . . . . . . . . . . . . . . . 128 . . . . . . . . . . . . . . . . . . . . . . . . . 128 The class declaration file The class constructor . . . . . . . . . . . . . . . . . . . . . . . . . . . 129 The is_allowed method . . . . . . . . . . . . . . . . . . . . . . . . . . 129 The execute method . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130 . . . . . . . . . . . . . . . . . . . . . . . . . 130 6.4.10.1 The class declaration file 6.4.10.2 The class constructor . . . . . . . . . . . . . . . . . . . . . . . . . . . 131 6.4.10.3 The is_allowed method . . . . . . . . . . . . . . . . . . . . . . . . . . 131 6.4.10.4 The read method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132 6.4.11.1 The class declaration file . . . . . . . . . . . . . . . . . . . . . . . . . 132 6.4.11.2 The constructors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133 6.4.11.3 The methods used for the DevReadDirection command . . . . . . . . . 135 6.4.11.4 The methods used for the Position attribute . . . . . . . . . . . . . . . . 135 6.4.11.5 The methods used for the SetPosition attribute . . . . . . . . . . . . . . 137 6.4.11.6 Retrieving device properties . . . . . . . . . . . . . . . . . . . . . . . . 138 6.4.11.7 The remaining methods . . . . . . . . . . . . . . . . . . . . . . . . . . 138 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139 6.5.1 The Tango device server graphical interface . . . . . . . . . . . . . . . . . . . . . 140 The device server main window . . . . . . . . . . . . . . . . . . . . . . 140 The console window . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141 The help window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142 The InitInstance method . . . . . . . . . . . . . . . . . . . . . . . . . . 142 The ExitInstance method . . . . . . . . . . . . . . . . . . . . . . . . . 143 Example of how to build a Windows device server MFC based . . . . . 144 6.5.3 Win32 application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144 6.5.4 Device server as service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146 The service class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146 The main function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147 Service options and messages . . . . . . . . . . . . . . . . . . . . . . . 148 Tango device server using MFC as Windows service . . . . . . . . . . . 149 6.6 Compiling, linking and executing a TANGO device server process . . . . . . . . . . . . . 149 . . . . . . . . . . . . . . . . . . . . . 149 6.6.1.1 On UNIX like operating system . . . . . . . . . . . . . . . . . . . . . 149 Supported development tools . . . . . . . . . . . . . . . . . . 149 Compiling . . . . . . . . . . . . . . . . . . . . . . . . . 149 . . . . . . . . . . . . . . . . . . . . . . . 150 Linking . . . 6.6.1.2 On Windows using Visual Studio . . . . . . . . . . . . . . . . . . . . . 151 6.6.2 Running a C++ device server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153 6.6.1 Compiling and linking a C++ device server 6.7 Advanced programming techniques 6.5 Device server under Windows 6.5.1.1 6.5.1.2 6.5.1.3 6.5.2.1 6.5.2.2 6.5.2.3 6.5.4.1 6.5.4.2 6.5.4.3 6.5.4.4 6.6.1.1.1 6.6.1.1.2 6.6.1.1.3 . . . . . . 6.7.1 Receiving signal . .
    CONTENTS 6 . . . . . . 6.7.2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153 6.7.1.1 Using signal Exiting a device server gracefully . . . . . . . . . . . . . . . . . . . . . 155 6.7.1.2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155 Inheriting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155 6.7.2.1 Writing the BClass 6.7.2.2 Writing the B class . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156 6.7.2.3 Writing B class specific command . . . . . . . . . . . . . . . . . . . . 156 6.7.2.4 Redefining A class command . . . . . . . . . . . . . . . . . . . . . . . 156 6.7.3 Using another device pattern implementation within the same server . . . . . . . . 157 6.7.4 Device pipe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157 Client reading a pipe . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157 Client writing a pipe . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159 6.7.4.1 6.7.4.2 . . . . . 7 Advanced features . . . . . . . . . . . . . . . . . . . . 7.3.2.1 7.3.2.2 7.3.2.3 7.2.1.1 7.2.1.2 7.2.1.3 7.3 Device polling . 7.1 Attribute alarms . . Introduction . 7.2 Enumerated attribute . 161 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161 . 7.1.1 The level alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161 7.1.2 The Read Different than Set (RDS) alarm . . . . . . . . . . . . . . . . . . . . . . 162 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162 7.2.1 Usage in a Tango class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162 Setting the labels with enumeration compile time knowledge . . . . . . 162 Setting the labels without enumeration compile time knowledge . . . . . 163 Setting the attribute value . . . . . . . . . . . . . . . . . . . . . . . . . 164 7.2.2 Usage in a Tango client . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165 7.3.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165 7.3.2 Configuring the polling system . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165 Configuring what has to be polled and how . . . . . . . . . . . . . . . . 165 Configuring the polling threads pool . . . . . . . . . . . . . . . . . . . 167 Choosing polling algorithm . . . . . . . . . . . . . . . . . . . . . . . . 168 7.3.3 Reading data from the polling buffer . . . . . . . . . . . . . . . . . . . . . . . . . 169 7.3.4 Retrieving command/attribute result history . . . . . . . . . . . . . . . . . . . . . 169 7.3.5 Externally triggered polling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170 7.3.6 Filling polling buffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170 . . . . . . . . . . . . . . . . . . . 172 Setting and tuning the polling in a Tango class 7.3.7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173 7.4.1 Device server process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173 . . . . . . . . . . . . . . . . 174 . . . . . . . . . . . . . . . . . . . . . . . 175 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176 7.5 Generating events in a device server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177 7.6 Using multicast protocol to transfer events . . . . . . . . . . . . . . . . . . . . . . . . . . 178 . . . . . . . . . . . . . . . . . . . . 178 . . . . . . . . . . . . . . . . . . . . . . . . . 180 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180 7.7 Memorized attribute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180 7.8 Forwarded attribute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181 . 7.9 Transferring images . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182 7.10 Device server with user defined event loop . . . . . . . . . . . . . . . . . . . . . . . . . . 183 7.11 Device server using file as database . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184 7.12 Device server without database . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185 7.12.1 Example of device server started without database usage . . . . . . . . . . . . . . 186 7.12.2 Connecting client to device within a device server started without database . . . . 186 7.13 Multiple database servers within a Tango control system . . . . . . . . . . . . . . . . . . 186 7.14 The Tango controlled access system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187 7.6.1 Configuring events to use multicast transport 7.6.2 Default multicast related properties 7.8.1 Definition . . 7.8.2 Coding . 7.4.1.1 7.4.1.2 Attribute Serialization model Serialization model within a device server 7.4.2 Client process . 7.4 Threading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
    CONTENTS 7 7.14.1 User rights definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187 7.14.2 Running a Tango control system with the controlled access . . . . . . . . . . . . . 190 A Reference part A.1 Device parameter . A.2 Device attribute . . . . . . . . . . . 191 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191 A.1.1 The device black box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191 A.1.2 The device description field . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191 A.1.3 The device state and status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191 A.1.4 The device polling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192 A.1.5 The device logging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193 A.2.1 Hard-coded device attribute parameters . . . . . . . . . . . . . . . . . . . . . . . 193 A.2.1.1 The Attribute data type . . . . . . . . . . . . . . . . . . . . . . . . . . 194 A.2.1.2 The attribute data format . . . . . . . . . . . . . . . . . . . . . . . . . 194 A.2.1.3 The max_dim_x and max_dim_y parameters . . . . . . . . . . . . . . . 195 A.2.1.4 The attribute read/write type . . . . . . . . . . . . . . . . . . . . . . . . 195 . . . . . . . . . . . . . . . . . 196 A.2.1.5 The associated write attribute parameter A.2.1.6 The attribute display level parameter . . . . . . . . . . . . . . . . . . . 196 A.2.1.7 The root attribute name parameter . . . . . . . . . . . . . . . . . . . . . 197 . . . . . . . . . . . . . . . . . . . . . . . . . . . 197 A.2.2.1 General purpose parameters . . . . . . . . . . . . . . . . . . . . . . . . 197 The format attribute parameter . . . . . . . . . . . . . . . . . 197 The min_value and max_value parameters . . . . . . . . . . . 198 The memorized attribute parameter . . . . . . . . . . . . . . . 198 A.2.2.2 The alarm related configuration parameters . . . . . . . . . . . . . . . . 198 The min_alarm and max_alarm parameters . . . . . . . . . . . 198 The min_warning and max_warning parameters . . . . . . . . 199 The delta_t and delta_val parameters . . . . . . . . . . . . . . 199 A.2.2.3 The event related configuration parameters . . . . . . . . . . . . . . . . 199 . . . . . . . . . . 199 . . . . . . . . . . . . . . . . . 200 A.2.2 Modifiable attribute parameters A.2.2.1.1 A.2.2.1.2 A.2.2.1.3 A.2.2.2.1 A.2.2.2.2 A.2.2.2.3 . . . . . . . . . A.3 Device pipe . A.2.2.3.1 A.2.2.3.2 A.2.2.3.3 A.3.1 Hard-coded device pipe parameters A.3.1.1 The pipe read/write type. A.3.1.2 The pipe display level parameter The rel_change and abs_change parameters The periodic period parameter The archive_rel_change, archive_abs_change and archive_period . . . . . . . . . . . . . . . . . . . . . 200 parameters . . . . A.2.3 Setting modifiable attribute parameters . . . . . . . . . . . . . . . . . . . . . . . 200 A.2.4 Resetting modifiable attribute parameters . . . . . . . . . . . . . . . . . . . . . . 201 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202 . . . . . . . . . . . . . . . . . . . . . . . . . 202 . . . . . . . . . . . . . . . . . . . . . . . . . 202 . . . . . . . . . . . . . . . . . . . . . 202 A.3.2 Modifiable pipe parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203 A.3.3 Setting modifiable pipe parameters . . . . . . . . . . . . . . . . . . . . . . . . . . 203 . . . . . . . . . . . . . . . . . . . . . . . . 203 A.3.4 Resetting modifiable pipe parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204 A.4 Device class parameter A.5 The device black box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204 A.6 Automatically added commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205 A.7 DServer class device commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206 A.7.1 The State command . . A.7.2 The Status command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206 A.7.3 The DevRestart command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206 A.7.4 The RestartServer command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206 A.7.5 The QueryClass command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206 A.6.1 The State command . . A.6.2 The Status command . A.6.3 The Init command . . . . . . . . .
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