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How much control do you
need to dance TANGO?
Juande Santander-Vela
SDP/TM Element Systems Engineer
TANGO: SCADA for SKA
SCADA: Supervisory Control And Data Acquisition
TANGO: TAco Next Generation Object-oriented
(control ...
TACO @ Hartebeesthoek Radio
Astronomy Observatory
Why TANGO for SKA?
Need for a common control middleware across the SKA
Need for industrial-strength SCADA
Open Source, ver...
How do you TANGO?
The TANGO Control System Manual
Version 9.2
The TANGO Control System Manual
Version 9.2
RTFM!
Looks easy!
Tango & Control
There’s a leader
There’s a follower
Tango & Control
Inputs (follower)
• Torso orientation
• Distance between chests
• Centre of gravity
• Pressure on the back...
TANGO & Control
There’s a leader → Device Client
There’s a follower → Device Server
additional information to send on the ...
OK for one couple
What about ballrooms?
Control Strategy: Startup, Dance, Stop
Distributed,
autonomous
control
What about systems?
Leaders are many times followers of other leaders
(military hierarchy)
Anyone could be a follower of a...
These are
modes!
(of the dancers)
Or are they
attributes?
A TANGO Device Server
Device server
Instance Name
State
Attribute_1
Attribute_2
Attribute_3
Attribute_4
Command_1
Command_...
A TANGO Device Server
Device server
Instance Name
State
Attribute_1
Attribute_2
Attribute_3
Attribute_4
Command_1
Command_...
A TANGO Hierarchy
Device1 Device2 Device3 Device4
A TANGO Hierarchy
Device
Server1
Device
Server2
Device1 Device2 Device3 Device4
A TANGO Hierarchy
TEL-
MGT
Device
Server1
Device
Server2
Device1 Device2 Device3 Device4
A TANGO Hierarchy
TEL-
MGT
Device
Server1
Device
Server2
Device1 Device2 Device3 Device4
DB
A TANGO Hierarchy
TEL-
MGT
Client1
Client2
Client3
Device
Server1
Device
Server2
Device1 Device2 Device3 Device4
DB
A TANGO Hierarchy
Client1
Client2
Client3
Device
Server1
Device
Server2
Device1 Device2 Device3 Device4
DB
A TANGO Hierarchy
Device
Server1
Device
Server2
Device1 Device2 Device3 Device4
DB
Generic
Client
This is the
power of TAN...
A TANGO Hierarchy
Device
Server1
Device
Server2
Device1 Device2 Device3 Device4
DB
Generic
Client
A TANGO Hierarchy
Device
Server1
Device
Server2
Device1 Device2 Device3 Device4
DB
Generic
Client
A TANGO Hierarchy
Device
Server1
Device
Server2
Device1 Device2 Device3 Device4
DB
Generic
Client
Generic
Client
Each one
...
A TANGO Hierarchy
TEL-
MGT
Device
Server1
Device
Server2
Device1 Device2 Device3 Device4
DB
A TANGO Hierarchy
Proxy1
Device
Server1
Device
Server2
Device1 Device2 Device3 Device4
DB
Proxy2
Device
Server4
Device
Ser...
A TANGO Hierarchy
Proxy1
Device
Server1
Device
Server2
Device1 Device2 Device3 Device4
DB
Proxy2
Device
Server4
Device
Ser...
A TANGO Hierarchy
Proxy1
Device
Server1
Device
Server2
Device1 Device2 Device3 Device4
DB
Proxy2
Device
Server4
Device
Ser...
A TANGO Hierarchy
Proxy1
Device
Server1
Device
Server2
Device1 Device2 Device3 Device4
DB
Proxy2
Device
Server4
Device
Ser...
A TANGO Hierarchy
Proxy1
Device
Server1
Device
Server2
Device1 Device2 Device3 Device4
DB
Proxy2
Device
Server4
Device
Ser...
Not talking about…
Commonality of attributes (LMC harmonisation)
Having similar interfaces for similar devices
(inheritanc...
How much control do you need
to dance TANGO?
Ability to keep track of own status (state, attributes),
and perform “moves” ...
Thank you!
Questions?
TANGO & SKA
How much control do you need to dance TANGO?
How much control do you need to dance TANGO?
How much control do you need to dance TANGO?
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How much control do you need to dance TANGO?

This set of slides introduce the TANGO control system for the SKA telescopes, using analogies between tango dancing and the paradigms of the TANGO control system.

The talk was given in the context of the Engineering Q&A talks of the SKA Organisation.

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How much control do you need to dance TANGO?

  1. 1. How much control do you need to dance TANGO? Juande Santander-Vela SDP/TM Element Systems Engineer
  2. 2. TANGO: SCADA for SKA SCADA: Supervisory Control And Data Acquisition TANGO: TAco Next Generation Object-oriented (control system) ➥ TACO: Telescope and Accelerator Control Objects Not that foreign to astronomy!
  3. 3. TACO @ Hartebeesthoek Radio Astronomy Observatory
  4. 4. Why TANGO for SKA? Need for a common control middleware across the SKA Need for industrial-strength SCADA Open Source, very large, vibrant community Some experience in astronomy: TANGO is TACO++ Preferred to ALMA Common Software & EPICS Very successful in synchrotron world
  5. 5. How do you TANGO? The TANGO Control System Manual Version 9.2
  6. 6. The TANGO Control System Manual Version 9.2 RTFM! Looks easy!
  7. 7. Tango & Control There’s a leader There’s a follower
  8. 8. Tango & Control Inputs (follower) • Torso orientation • Distance between chests • Centre of gravity • Pressure on the back • Distance to other dancers • …
 Outputs (follower) • Leg movement • Arm movement • Hip position • Centre of gravity Needs constant attention Refined with experience
  9. 9. TANGO & Control There’s a leader → Device Client There’s a follower → Device Server additional information to send on the wire, TANGO version control etc. These details can and should be wrapped in TANGO Application Programmer Interface (API). The API is implemented as a library in C++ and as a package in Java. The API is what makes TANGO clients easy to write. The API’s consists the following basic classes : • DeviceProxy which is a proxy to the real device • DeviceData to encapsulate data send/receive from/to device via commands • DeviceAttribute to encapsulate data send/receive from/to device via attributes • Group which is a proxy to a group of devices In addition to these main classes, many other classes allows a full interface to TANGO features. The following figure is a drawing of a typical client/server application using TANGO. Client Database TANGO TANGO ServerTANGO Cmd Attrib CORBA attrib CORBA opera API API Devices CORBA CORBACORBA
  10. 10. OK for one couple
  11. 11. What about ballrooms? Control Strategy: Startup, Dance, Stop Distributed, autonomous control
  12. 12. What about systems? Leaders are many times followers of other leaders (military hierarchy) Anyone could be a follower of anyone (swarms) Strategy allows for clear decision and action at the different levels Think hierarchically
  13. 13. These are modes! (of the dancers)
  14. 14. Or are they attributes?
  15. 15. A TANGO Device Server Device server Instance Name State Attribute_1 Attribute_2 Attribute_3 Attribute_4 Command_1 Command_2 Command_3 Class-dependent Think hierarchically
  16. 16. A TANGO Device Server Device server Instance Name State Attribute_1 Attribute_2 Attribute_3 Attribute_4 Command_1 Command_2 Command_3 Think inheritance Class-dependent
  17. 17. A TANGO Hierarchy Device1 Device2 Device3 Device4
  18. 18. A TANGO Hierarchy Device Server1 Device Server2 Device1 Device2 Device3 Device4
  19. 19. A TANGO Hierarchy TEL- MGT Device Server1 Device Server2 Device1 Device2 Device3 Device4
  20. 20. A TANGO Hierarchy TEL- MGT Device Server1 Device Server2 Device1 Device2 Device3 Device4 DB
  21. 21. A TANGO Hierarchy TEL- MGT Client1 Client2 Client3 Device Server1 Device Server2 Device1 Device2 Device3 Device4 DB
  22. 22. A TANGO Hierarchy Client1 Client2 Client3 Device Server1 Device Server2 Device1 Device2 Device3 Device4 DB
  23. 23. A TANGO Hierarchy Device Server1 Device Server2 Device1 Device2 Device3 Device4 DB Generic Client This is the power of TANGO
  24. 24. A TANGO Hierarchy Device Server1 Device Server2 Device1 Device2 Device3 Device4 DB Generic Client
  25. 25. A TANGO Hierarchy Device Server1 Device Server2 Device1 Device2 Device3 Device4 DB Generic Client
  26. 26. A TANGO Hierarchy Device Server1 Device Server2 Device1 Device2 Device3 Device4 DB Generic Client Generic Client Each one for each specialist
  27. 27. A TANGO Hierarchy TEL- MGT Device Server1 Device Server2 Device1 Device2 Device3 Device4 DB
  28. 28. A TANGO Hierarchy Proxy1 Device Server1 Device Server2 Device1 Device2 Device3 Device4 DB Proxy2 Device Server4 Device Server3 Device5 Device6 Device7 Device8 TEL- MGT
  29. 29. A TANGO Hierarchy Proxy1 Device Server1 Device Server2 Device1 Device2 Device3 Device4 DB Proxy2 Device Server4 Device Server3 Device5 Device6 Device7 Device8 TEL- MGT DB
  30. 30. A TANGO Hierarchy Proxy1 Device Server1 Device Server2 Device1 Device2 Device3 Device4 DB Proxy2 Device Server4 Device Server3 Device5 Device6 Device7 Device8 TEL- MGT DB DB
  31. 31. A TANGO Hierarchy Proxy1 Device Server1 Device Server2 Device1 Device2 Device3 Device4 DB Proxy2 Device Server4 Device Server3 Device5 Device6 Device7 Device8 TEL- MGT DB DB Can be scaled easily
  32. 32. A TANGO Hierarchy Proxy1 Device Server1 Device Server2 Device1 Device2 Device3 Device4 DB Proxy2 Device Server4 Device Server3 Device5 Device6 Device7 Device8 TEL- MGT DB DB Allows for bottom-up building
  33. 33. Not talking about… Commonality of attributes (LMC harmonisation) Having similar interfaces for similar devices (inheritance, device libraries, software harmonisation) Archiving and logging Time-stamping Synchronous vs. asynchronous And many others, included in TANGO
  34. 34. How much control do you need to dance TANGO? Ability to keep track of own status (state, attributes), and perform “moves” (commands) Ability to measure attributes in others (read attributes) Signal others what is going to happen (write attributes), ask directly (command) Let others define the higher-level of control TANGO rules are embedded throughout
  35. 35. Thank you!
  36. 36. Questions?
  37. 37. TANGO & SKA

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This set of slides introduce the TANGO control system for the SKA telescopes, using analogies between tango dancing and the paradigms of the TANGO control system. The talk was given in the context of the Engineering Q&A talks of the SKA Organisation.

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