Power PMAC Comms Library Manual
Contents
1. PowerPMACBox handles general Power PMAC controller functions and the second PowerPMACAxes handles functions related to individual axes The classes have been generated in the standard manner using Pogo Within the two directories PowerPMACBox and PowerPMACAxes are xmi project files which can be opened in Pogo to edit the structure of each class The attributes and commands in the classes are wrappers for corresponding methods in the SSH control library functionality is implemented within the protected regions in the generated source code files 19 September 2014 Delta Tau Power PMAC TANGO Device Server Manual V1 0 7 Installation This section covers building and installation of the Power PMAC TANGO server on a Linux operating system 7 1 Prepare Makefile Before building the software some changes are required to the Makefile to provide the correct configuration for the target machine 7 1 1 Power PMAC SSH Communications Library Paths The Power PMAC SSH Communications Library is required by the TANGO device server to handle communication with the Power PMAC via SSH The TANGO device server needs to know the locations of the communications library header file PowerPMACcontrol h and shared library file libPowerPMACcontrol so in order to use them The Makefile contains the instructions telling the preprocessor and linker where to search for these files The default search locations are as follows File Default search loca2. Property in the lower right part of the screen Add properties to both classes for IpAddress Username and Password in a similar manner to the example below pJ File Edit Tools Filter Class Alias Property Device properties localhost PowerPMACAxes ppmacaxes Server Y Device Property name Value Jive 4 19 localhost 10000 A DataBased IpAddress 10 22 77 h Seay gt Password deltatau 9 T PowerPMACTangoDev Username root 9 E ppmaccontrol 9 amp PowerPMACAxes 9 localhost PowerPMACAxes ppmi gt x Properties na Polling ES Event ER Attribute config o By Attribute properties Logging 4 PowerPMACBox localhost PowerPMACBox ppmat o 82 Properties y Polling Event FX Attribute config o By Attribute properties Logging 4 TangoAccessControl o 4 TangoTest gt Refresh New property Copy The Power PMAC TANGO device server is now set up and ready to use 19 September 2014 11 Delta Tau Power PMAC TANGO Device Server Manual V1 0 8 Usage Open a terminal If they are not already running start the TANGO Database process with the following command DataBaseds 2 ORBendPoint giop tcp 10000 and Jive jive amp Start the Power PMAC TANGO device server If the application is in the default search path for applications simply type PowerPMACTangoDev ppmaccontrol Otherwise navigate to the directory cont
3. a ga TAU Delta Tau Power PMAC TANGO Device Server Software Manual Issue 1 0 Date 19 September 2014 NAME DATE SIGNATURE Prepared by Andrew Wilson Observatory Sciences Ltd 17 September 2014 i Checked by Philip Taylor Observatory Sciences Ltd 18 September 2014 Released by Andrew Wilson Observatory Sciences Ltd 19 September 2014 k j ny Delta Tau Power PMAC TANGO Device Server Manual V1 0 TABLE OF CONTENTS E 3 2 Reference Documents earnen a dies saad a ie toe E AN cucel 3 O A i e a E A A R E Ea 4 A A EE ie aaa EE E ETE 5 4 1 Hardware REQUIEM adios 5 4 2 Software Requirements coiii einsi aiei i N EE ese akeas 5 5 Supported A E A 6 O Source Code SHUI o 7 E o o EEEIEE AEE EE A E A 8 7 1 Prepare Makefile sana 8 7 1 1 Power PMAC SSH Communications Library PathS ooconnnnccnnnncninnnccinn 8 TED POSO Prelerences e dlrs aci canes 8 TES Linker Library Pati ie 9 O wescitiaspascitisseiaetaspiratisateim A A A neler A EE 9 1 3 Add Server to TANGO Database oooooccnnnncccnnnnnononanononanonononnnnnocoonanononancnonanos 9 SN A E EEE E E A ania ae I IE EE I S E EE S EE 12 8 1 TEST SEL EEEE EEE I EE EE S T E O cana 12 19 September 2014 2 Delta Tau Power PMAC TANGO Device Server Manual V1 0 1 Scope This document describes the installation and use of a TANGO device server which implements a sample set of the functionality in the Observatory Sciences Power PMAC SSH communications library demonst
4. aining the executable and enter PowerPMACTangoDev ppmaccontrol 8 1 Test Screens In Jive right click on the device and select Monitor device to bring up an interactive screen which may be used to test that everything is set up correctly and that communication with the Power PMAC is successful 19 September 2014 12
5. erPMACTangoDev ppmaccontrol Class PowerPMACAxes Devices localhost PowerPMAC Axes ppmacaxes Create Edit a server Server ServerName Instance PowerPMACTangoDev ppmaccontrol Class PowerPMACAxes Devices localhost PowerPMACAxes ppmacaxes Register server Can Add the second class to this server by right clicking on the server name and selecting Add class from the pull down menu File Edit Tools Filter Class Alias Property Server Device gt Y DataBaseds 9 Y PowerPMACTangoDev o Y TangoA Rename gt Y TangoT Delete Add class Test admin server Save server data Classes wizard Unexport devices Cut instance Devices dependencies Polling threads manager Fill in the following details on the Create Edit a server dialog which appears and then click Register server 19 September 2014 10 Delta Tau Power PMAC TANGO Device Server Manual V1 0 Field Value Class PowerPMACBox Devices localhost PowerPMACBox ppmacbox Create Edit a server Server ServerName iInstance PowerPMACTangoDev ppmaccontrol Class PowerPMACBox Devices localhost PowerPMACBox ppmacbox Register server Add properties to the device server to supply the correct connection information for your network For each of the two classes PowerPMACAxes and PowerPMACBox select Properties from the tree in the left hand pane and select New
6. l up to 256 axes whether through direct local control or distributed control over a MACRO fibre optic ring or over an EtherCat network The Power PMAC may be controlled through an Ethernet interface by writing commands and reading replies and status as text strings over an SSH protocol connection Observatory Sciences Ltd have produced a C library to control and monitor the Power PMAC using an SSH connection TANGO http tango controls org is an open source distributed control system which can monitor and control multiple devices on the same computer or distributed across a network The Power PMAC TANGO device server illustrates implementing the functionality of the Power PMAC SSH communications library within the TANGO framework It is intended as a demonstration and a resource which you are invited to build upon as a starting point to implement the functionality required in your project 19 September 2014 4 Delta Tau Power PMAC TANGO Device Server Manual V1 0 4 Requirements This section details the hardware and software requirements for building and using the Power PMAC TANGO device server software 4 1 Hardware Requirements The following hardware is required to use the device server e Standard PC with an Ethernet port e Power PMAC present on the network For operation with the TANGO device server the Power PMAC should be configured to have a static IP address and this address must be specified in the device serve
7. r properties as described in Section 7 3 See RD1 for details of how to configure the Power PMAC IP address 4 2 Software Requirements The following software must be installed to build and run the device server e TANGO control system Available to download from http www tango controls org e Jive distributed with TANGO a graphical tool for inspecting and manipulating TANGO databases e Power PMAC SSH Communications Library This C library is required by the device server to handle communication with the Power PMAC via the SSH protocol It is available to download from the Observatory Sciences website http www observatorysciences co uk Installation instructions are given in the user manual for the library RD4 19 September 2014 5 Delta Tau Power PMAC TANGO Device Server Manual V1 0 5 Supported Platforms The software has been built and tested under the CentOS operating system The standard Linux build system make is used with a Makefile provided The version of software utilities and libraries used is shown in the table below Note that CentOS is effectively identical to the corresponding Red Hat Enterprise Linux release O S Linux gcc make TANGO version Kernel compiler utility CentOS 6 5 2 6 32 431 4 4 7 3 81 7 2 6 19 September 2014 6 Delta Tau Power PMAC TANGO Device Server Manual V1 0 6 Source Code Structure The software consists of a single TANGO server containing two classes the first
8. rating how the library may be deployed within the TANGO framework to monitor and control the Delta Tau Power PMAC It assumes that the user has a working knowledge of TANGO concepts and that the required software detailed in Section 4 2 has been installed including TANGO and the Observatory Sciences Power PMAC SSH communications library Where appropriate references are provided to existing sources of information 2 Reference Documents RD1 Power PMAC User s Manual Delta Tau Document 050 PRPMAC 0U0 Dated March 25 2014 RD2 Power PMAC Software Reference Manual Delta Tau Document 050 PRPMAC OSO Dated May 23 2014 RD3 The TANGO Control System Manual Version 7 2 Distributed with the TANGO source for this version which can be downloaded at http www tango controls org download RD4 Power PMAC SSH Communications Library Manual Version 1 0 Available to download from http www observatorysciences co uk 19 September 2014 3 Delta Tau Power PMAC TANGO Device Server Manual V1 0 3 Introduction The Power PMAC UMAC CPU is the most powerful and most flexible controller that Delta Tau presently offers It is intended to be used in a 3U UMAC Rack which is a modular rack format permitting the user to configure their rack with whatever I O servo control cards MACRO cards or any other accessory card Delta Tau offers for the UMAC Rack format to build a totally user customized system The Power PMAC UMAC CPU can contro
9. t variable To view the present contents of the variable open a terminal and enter echo LD LIBRARY PATH If the directory containing libPowerPMACcontrol so is not included in this variable add it to the path for this session by typing export LD LIBRARY PATH LD LIBRARY PATH usr local lib Optionally include this line in your shell startup script 7 2 Build In the source directory build the device server with the command S make The built executable may be installed in usr local bin to be easily accessible from the shell by executing the following command This requires root privileges so will need to be executed by the superuser or using SUdO make install 7 3 Add Server to TANGO Database This section describes how to add the Power PMAC server to the TANGO database Open a terminal and enter the following command to start the database application DataBaseds 2 ORBendPoint giop tcp 10000 amp Run Jive jive From the Edit menu select Create server Refresh Tree Change Tango Host Create server Create free property Show clipboard Clear clipboard 19 September 2014 9 Delta Tau Power PMAC TANGO Device Server Manual V1 0 Fill in the following details on the Create Edit a server dialog which appears and then click Register server Field Value Server ServerName Instance Pow
10. tions PowerPMACcontrol h usr local include or PowerPMACcontrol src libPowerPMACcontrol so usr local lib or PowerPMACcontrol src These are the standard installation locations when make install is run during the communications library installation described in RD4 If these files have been installed in a different location then the lines in the Makefile highlighted below need to be modified a Search paths for PowerPMACcontrol h 80 INC DIR USER I 81 I POWERPMACAXES HOME 82 I POWERPMACBOX HOME 83 I usr local include 84 I PowerPMACcontrol src b Search paths for libPowerPMACcontrol so 92 LIB DIR USER L 93 L usr local 1lib 94 L PowerPMACcontrol src In each case substitute the location where the file is to be found 7 1 2 Pogo Preferences Path Ensure that the following line in the Makefile corresponds to the location of your Pogo build environment preferences which are required to build the Power PMAC TANGO device server 25 MAKE ENV usr local tango share pogo preferences 19 September 2014 8 Delta Tau Power PMAC TANGO Device Server Manual V1 0 7 1 3 Linker Library Path In order that the TANGO device server may locate the Power PMAC SSH communications library at runtime its location needs to be in the linker library path This is achieved by editing the LD_LIBRARY_PATH environmen
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