Large Control System Development:Large Control System Development:EPICS, TANGO and ACS Integration

Mark Pleško, Rok Šabjan, Anže Žagar CosylabCosylabmark.plesko@cosylab.com

Acknowledgments

National InstrumentsOwen GoldenThierry DebelleThierry DebelleJames JuhaszKyle TetmeyerMicheal KingMicheal KingIstvan MerzaMarcelo IzaguirreEd McConnellEd McConnellStefano ConcezziYiannis PavlouArun Veeremani

Los Alamos National LaboratoryOak Ridge National LaboratoryEuropean Southern ObservatoryEuropean Southern ObservatoryJosef Stefan InstituteThe team at Cosylab ☺

Outline

Quick introduction to Cosylab

Quick overview of open source control system packages, such as EPICS, TANGO, ACS, etc.

Examples of integrating LabView and National Instruments products with those packages

CosylabCosylab

Cosylab Is Specialized In Big Physics Controls

ALMAArray of 64 radio telescopesJoint project of EU, USA and JapanDeveloping Core Control System

MedAustron, HICAT (Heidelberg)Brain cancer ion therapyConceptual DesignConceptual Design

SNSW ld’ l t tWorld’s largest neutron sourceParts for XAL – machine phyisics package

CERNGathering timing specsMiddleware review and development

Customers From Nearly All Major Labs Worldwide

Cosylab 2008

Over 50 FTE Engineers

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Month

Control Systems Integrator for Big Physics

Studies and SpecificationsDesing and ArchitectureSoftware and Hardware DevelopmentProject Management and Turn Key SolutionsPhysics Applications (calculations orbit control etc )Physics Applications (calculations, orbit control, etc.)

Full Service Model:keep one person permanently at labSupported by expert team at Cosylab

Benefits for the lab:Benefits for the lab:get experts in every area for the price of onevalue for money (efficiently managed, optimized procedures, “no cure no pay”)scientists keep established work practice: (almost) no specs, creative academic environment, ask and get (almost) next day, g ( ) y

We Master All Large Control System Packages

Co-developing EPICSVisual DCT configuration toolVisual DCT –configuration toolChannel Access in JavaControl System Studio -Eclipse Framework

TINE – TANGO translatorCERN iddl tiCERN middleware renovation

Also working with LSA, FESACo-developing ACS: Control system based on CORBAp g y

Originally designed by Cosylab for ANKA synchrotronUsed at ALMA: Atacama Large Millimeter Array

TANGO EPICS t l tTANGO – EPICS translatorGenerics EPICS support was created to integrate TANGO devices into EPICS

DOOCS – integration of Orbit Correction for FLASH, DESY

World Leader

Major competitors use us: A l B D f ik FMB

Light source examplesANKA Germany completeAccel, Bergoz, Danfysik, FMB-

Berlin, Hitachi-Zosen, Instrumentation Technologies, Maatel Oxford Danfysik (now

ANKA, Germany, complete accelerator + IDs + maintenanceDiamond UK: 3 completeMaatel, Oxford-Danfysik (now

FMB-Oxford), ThalesDiamond, UK: 3 complete beamlines + several key componentsASP Australia: completeASP, Australia: complete booster, SR PS and BLM, 4 complete beamlines

Joint Venture withSincrotrone Trieste (Italy)( y)

Kyma, a company to produce undulators for synchrotron radiation light sources (FELs and electron storage rings)

Public-private partnership, Technology transfer, Cross-border cooperationWe master not only both the research and business cultures, we know also to join them effectively and get them to cooperateto join them effectively and get them to cooperate

EPICS TANGOEPICS, TANGO, ACSACS, ...What’s it allWhat s it all about?about?

What’s The Difference Between Them?

EPICS

TINE

chan. acc. MEDM

DOOCS

COACK

ACOP

DDD

COACK

ACS

TANGO

CDEV

AbeansCosyBeans

JDM

driver data

SERVERcommu-nication

API visual support

CLIENT

sensor gaugewire

Front End Middleware Graphical User Interface

Development Procedures: Control System is NOT just y jPlaying with Software

Control Systems are an engineering discipline like all the others, but with an even more complicated cycle

Write specificationsArchitectureDesignPrototyping – probably the only fun partPrototyping probably the only fun partTest proceduresImplementation (coding) – the only software partDocumentationDocumentationTestingDebuggingAcceptance at customer

LabView’s graphical programming and virtual instrumentation is g p p g gobviously helpful

But how to make use of it properly?

The Challenge: Cohabitation of Very Different Cultures

Device engineers Control system programmers

Want to get things done quicklyMany love and use

Need full flexibilty – also at the cost of timeUsed to their control system y

LabViewy

package

Cohabitation must allow both to do their best!Engineers configure and manage device functionalityg ee s co gu e a d a age de ce u ct o a tyProgrammers integrate device into infrastructure (alarm, archive, system administration, maintenance, etc.)

Cosylab 2008

Where to plug?

Device engineers Control system programmers

GUI

CAC

Logging

CAC

Archive

CAC

Alarm

CAC

LAN

Channel Access ServerIOC

SequencerDatabaseLabView

mapping

Device Support/DriverI/O HardwareI/O Hardware

Example ofExample of i t ti LVintegrating LV and NI productsand NI products

EXAMPLE #1: EPICS on cRIO

Project initiated by the Los Alamos LANSCE-R upgradeDilemma: PLC or compact RIOFPGA is a big plus, but need EPICS

Specific requirements due to existing control systems infrastructureSpecific requirements due to existing control systems, infrastructure and people skills at LANL

EPICS IOC has to run on cRIO (VxWorks Knob software)G hi l i i i d f LV RT d FPGAGraphical programming is required for LV RT and FPGA2-way communication between EPICS and LV RT

Cosylab 2008

Alpha Version Under Test At LANL

EPICS cohabitating with LV-RT on cRIO operating system (VxWorks)(VxWorks)

Inter-thread communicationBSP modified to support NFS (network boot, save/restore) and NTPNTP

2-5 MB/sec roundtrip rates were reached

Main Issues

The right synergy between National Instruments and Cosylab on this project

NI COSYLAB

W h d th t thi h i i bl ti

HARDWARE SOFTWARE INTEGRATION

We have proved that this approach is a viable optionSimilar work can be done for LV-RT - EPICS on PXI

Open issues:pMapping of records to (sub-) VIs

By discipline (naming conventions)?Automatic (two-way generator)?Automatic (two way generator)?Not at all (UN-style cohabitation)?

Core (Shared Memory API) needs changesEPICS LV interference (reboot required for stopping EPICS)EPICS-LV interference (reboot required for stopping EPICS)

EXAMPLE #2: cRIOC and PXIOC – any CS any OS

cRIO module (and PXI card) with a separate CPU that separately runs the control system softwareruns the control system software

Well defined and supported API to communicate with LV-RTDrivers for EPICS, TANGO, ACSand others

BenefitsBenefitsFreedom: use any control system on any operating systemReliability: CS crash does not affect LV-RT and vice-versaSupport: No grey area with respect to responsibility (LV-RT supported by NI, cRIOC by Cosylab, CS by user)Better performance: 2 CPUs, no thread racesp ,Best of both worlds: use the power of LV’s graphical programming and rich NI hardware family with your favorite control systemcontrol system

Cosylab 2008

EXAMPLE #3 ACS-LabVIEW Integration

Extremely Large Telescope (E-ELT) – a 42m optical telescopeWant LV GUI and NI hardwareNeed ACS as scalable distributed control system infrastructure

Integration with LabVIEW via Simple TCP Messaging (STM)

EXAMPLE #4: Peak Detection and Coincidence Circuits for NI EX Digitizersg

“Off-the-shelf” PXI digitizer boards from National Instruments Additional peak detection and coincidence algorithms

b dd d i b d FPGAembedded in onboard FPGACustomizable pulse shape recognition parametersPreloaded standard scintillation and solid state detector types

Fully integrated into LabViewVI to set parameters for pulse shape recognition and triggeringVI to set parameters for pulse shape recognition and triggering

Model Resolution ( )

Sampling ( S/ )

Bandwidth ( )

# (bits) (MS/s) (MHz) ch.

5122EX 14 100 100 2

5124EX 12 200 150 2

5922EX 16 24 15 6 2

Cosylab 2008

5922EX 16-24 15 6 2

Smart Pulse Shape Recognition

Robust, zero walk, shape-sensitive triggering

Th h hThe upper graph shows an example how powerful our algorithm is. It finds pulses which are hidden in largewhich are hidden in large noise and a low frequency sine wave. There are no false positives either

Amplitude-sensitive coincidence oranti-coincidence gated DAQ

positives, either.

The lower graph shows the coincidence signal (DAQ anti coincidence gated DAQ g ( Qenable), which is triggered only in the middle case, where both pulses are of the proper characteristic. On the left, the upper pulse exceeds the high limit and on the right, the

d l i i i

Cosylab 2008

second pulse is missing.

Conclusions

CS packages address different needs than LabView

LabView can be used with any control system in a clean way, getting the best of both systems1. “EPICS IOC+LV RT”: make full use of LV RT benefits2. Specialized “Big Phyisics Connectivity” hardware module3. LV-ACS bridge: tunnel LV through ACS and “tee” data flow

NI FPGA products have the right flexibility to be enhanced for Big Physics data aquisition

Cosylab 2008