lhcb’s experiment control system
DESCRIPTION
LHCb’s Experiment Control System. Step by Step. Overview. LHCb’s Experiment Control System What do we (JCOP/LHCb) provide What sub-detectors/sub-systems need to implement PVSS & Framework reminder Interfacing Electronics Boards SPECS & CC-PC Tools The Configuration DB - PowerPoint PPT PresentationTRANSCRIPT
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Clara Gaspar, March 2006
LHCb’s Experiment Control System
Step by Step
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2Clara Gaspar, March 2006
Overview❚ LHCb’s Experiment Control System
❙ What do we (JCOP/LHCb) provide❙ What sub-detectors/sub-systems need to implement
❚ PVSS & Framework reminder❚ Interfacing Electronics Boards
❙ SPECS & CC-PC Tools❙ The Configuration DB
❚ Hierarchical Control❙ The FSM Toolkit
❚ Note: This tutorial is meant as an overview❙ The PVSS & Framework and the FSM courses are still
required in order to use the tools!
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3Clara Gaspar, March 2006
ECS Scope
Detector Channels
Front End Electronics
Readout Network
High Level Trigger
Storage
L0
Expe
rimen
t Con
trol S
yste
m
DAQ
DCS Devices (HV, LV, GAS, Temperatures, etc.)
External Systems (LHC, Technical Services, Safety, etc)
TFC
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4Clara Gaspar, March 2006
ECS Generic Architecture
...
To Devices (HW or SW)
Com
man
dsSt
atus
&
Alar
ms
ECS
DCS DAQ
DetDcs1
DetDcsN
SubSys1
SubSys2
Dev1
Dev2
Dev3
DetDaq1
SubSysN
DevN
LHCT.S.
...GAS
DSS
Abst
ract
leve
ls
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5Clara Gaspar, March 2006
What do we provide?❚JCOP + LHCb Online provide:
❙Not complete applications, but:❙A Framework, i.e. a set of tools to help sub-
systems create their control systems:❘Complete, configurable components (ex. CAEN HV)❘Tools for defining User Components:
〡Electronics boards (SPECS/ CC-PC)〡Specific equipment/software tasks (DIM protocol)
❘Other Tools, for example:〡FSM for Building Hierarchies〡Configuration DB 〡Archiving, Alarm handling, etc.
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6Clara Gaspar, March 2006
We also provide:❚ Integration of Infrastructure Services:
❘Power Distribution and Rack/Crate Control❘Cooling and Ventilation Control❘Magnet Control (Monitoring)❘Gas Control❘Detector Safety System
❚And interface to:❘LHC machine❘Access Control System❘CERN Safety System
❚Sub-detectors can use these components:❙For defining logic rules (using their states)❙For high-level operation (when applicable)
❘Switch ON, Switch Off, Set parameters
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7Clara Gaspar, March 2006
And also Database Tools
PVSSPVSS
PVSSPVSS
. To Offline
...
...PVSS
PVSSPVSS
PVSS
Cond..DB
Conf.DB
To Offline
...
...
PVSSArch.
❚ Interfaces to the three Logical Databases in the Online System
Expe
rimen
tal E
quip
men
t
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8Clara Gaspar, March 2006
Online Database Contents
❙Configuration DB contains:❘All data needed to configure the HW (or SW) for the
various running modes〡Ex.: HV V0 Settings, Pedestal settings, trigger settings, etc.
❙PVSS Archive contains:❘All monitoring data read from HW for monitoring and
debugging of the Online System〡Ex.: HV Vmon Readings, temperatures, pedestal readings, etc.
❙Conditions DB contains:❘A subset of the monitoring data read from HW if it is
needed for Event processing (prob. packaged differently)〡Ex.: HV Vmon Readings if changed by more than n Volts
❘Some configuration data once it has been used〡Ex.: Trigger settings used by a particular run
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9Clara Gaspar, March 2006
The Configuration DB❚The Configuration DB will contain:
❙All "static" information about the devices❘Connectivity, addresses, etc. (also inventory and history)➨ Developed within LHCb (supports queries)
❙All "dynamic" data needed by the devices (for different running modes and different versions):
❘Settings (voltages, alarm limits, etc.), Calibration constants, Pedestals, FPGA code (probably a pointer to it), etc.
➨The settings for a particular running mode are called a “Recipe” (partial recipes available)
➨The JCOP FW component implements a cache:〡Can be used without Oracle for tests〡Can pre-load several recipes before “Start of Run”
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10Clara Gaspar, March 2006
What needs to be done:
❚Start bottom up❙Integrate each device into PVSS❙Define configuration recipes
❘for the various running modes❙Build a hierarchy for each sub-system
❘According to the guidelines❙Integrate the devices in the hierarchy
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11Clara Gaspar, March 2006
Device Integration❚Device Types
❙HV & LV channels❘CAEN, ISEG, WIENNER -> JCOP Framework
❙Analog inputs❘ELMB -> JCOP Framework
❙Electronics boards❘SPECS & CC-PC -> Tools to describe boards❘TELL1 -> FW component (for common part)
❙Other Components❘HW or SW -> FwDIM component
➨ Needs: PVSS, Framework, DIM,…
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12Clara Gaspar, March 2006
PVSS
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13Clara Gaspar, March 2006
PVSS Distribution
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Datapoint Concept❚DP type -> DP
Configs
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Graphical Objects❚Reference Panels
❙Can be “inherited” dynamically❙“$parameters” get replaced by instance
value
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16Clara Gaspar, March 2006
Building User Interfaces
❚Static Part -> Drag & Drop❚Dynamic part -> Control Scripts ("C" like)
❙A few usefull calls for accessing DPs:❘dpGet (string dpName, <data_type> value)❘dpSet (string dpName, <data_type> value)❘dpConnect (string callback, string dpName)
❙A few usefull calls for accessing Widgets:❘getValue (string widgetName, string
widgetProperty, <widget dependent data>)❘setValue (string widgetName, string
widgetProperty, <widget dependent data>)
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17Clara Gaspar, March 2006
PVSS Features❚Open Architecture
❙We can write our own managers➨It can be interfaced to anything (FSM, DIM)
❚Highly Distributed❙130 Systems (PCs) tested➨No major problem found
❚Standard Interface❙All data of all sub-systems defined as
DataPoints!
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18Clara Gaspar, March 2006
Demo-1❚Start PVSS console❚Create a project
(add installation tool)❚PVSS basic functionality
❙PVSS Managers❙Parameterization Module
❘Datapoint structures❙Graphic editor
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19Clara Gaspar, March 2006
Demo-2❚Install Framework
❘fwCore❘fwAnalogDigital❘fwCaen❘fwConfigurationDB❘fwDIM❘fwSpecs❘fwHw
❚CAEN component:❙Create Crates/Boards/Channels
❘“Crate0” will be used by FSM later❙Show Operation panels
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20Clara Gaspar, March 2006
DIM Distributed Information Management System
❙Publish/Subscribe mechanism❘Servers publish Services.❘Clients subscribe to Services:
〡On change or at regular intervals❘Clients can send commands to
Servers❙Services
❘A set of data 〡any type or size〡Identified by a name
❙A Name Server❘Keeps a list of available Services
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21Clara Gaspar, March 2006
DIM Some Characteristics
❙Transparency❘DIM clients do not know where their interlocutors are.❘DIM components can move from one machine to another, all
connections are transparently re-established.❙Available on mixed environments:
❘UNIX (HP-UX, Sun-OS, Sun-Solaris, IBM-AIX, DEC-OSF, Linux), Windows, VMS, Real-time OSs (OS9, LynxOS, VxWorks)
〡API available in “C”, C++ and Java❙Easy to Use
❘One “call” and a process can become a server or a client.❘Monitoring and Visualization Tools Available.❘Documentation and examples at: http://www.cern.ch/dim
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22Clara Gaspar, March 2006
PVSS<->DIM❚FwDIM component:
❙Server is a DIM Server❙Client is a PVSS Manager (PVSS00dim)❙Correspondence: PVSS DPs <-> DIM Services
❘Can be setup graphically via fwDIM panel❘Or via a script library
❙When setup❘When Server updates Service data goes into DP❘Writing to DP will send a DIM Command
❙Documentation at: ❘http://www.cern.ch/lhcb-online/ecs/fw/FwDim.html
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23Clara Gaspar, March 2006
Non-standard components
❚Integrating user components:❙Create a DIM server (C or C++)
❘Publishes device status & data❘Receives Commands
❙ Create a PVSS Datapoint❘That matches the structure of DIM services
❙Connect the DP to the DIM services❘Using the FwDIM tools
❙Make a PVSS panel to control the device❚ Used for: farm monitoring, trigger algorithms, etc.
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24Clara Gaspar, March 2006
Demo-3❚FwDIM
❙Configure DIM_DNS_NODE❙Start a DIM server (ex.: pvss_dim_server)❙Start DIM visualization tool
❘DIMTree on Windows❘DID on Linux
❙Start fwDIM.pnl❘Connect services to DPs❘Visualize from PVSS
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25Clara Gaspar, March 2006
Electronics Interface❚CC-PC & SPECS tools:
❙Low-level Software❘A “C” library for accessing board components
〡Via I2C, JTAG or parallel bus (and FPGA programming)❘A Generic DIM server for PVSS Communication
❙PVSS Tools (FW components: fwCcpc/fwSpecs)❘A library (PVSS scripting) for accessing board
components on any board with a CC-PC/Specs (equivalent to the low-level library)
❘A graphical user interface providing the functionality available in the library
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26Clara Gaspar, March 2006
Electronics Integration❚Electronics Boards:
❙Can use the CCPC/SPECS FW Tools for tests, but accessing the “chips” is not enough
❙Boards have to be modeled in PVSS according to guidelines (ex. registers have to correspond to datapoints) in order to:❘Provide access to the Conf. DB
〡Select a device/group of devices and say:Save as “Physics” recipe.
❘Be able to archive the data❘Be able to send the data to the Cond. DB❘Integrate into the FSM, Generate alarms, etc.
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27Clara Gaspar, March 2006
Electronics Integration❚We provide a tool for modeling boards
and their components (FWcomponent: FwHw)
❘Declaring boards (access via SPECS or CC-PC)Containing:
〡Groups of Chips (recursive) Containing:
❘Chips (TTCrx, Beetle, etc.)Containing:❘Registers
(access via I2C/JTAG/Parallel Bus)❙Contacts:
❘Ricardo Fernandes: SPECS❘Stefan Koestner: CC-PC
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Electronics boards❚Demo Setup
SPECSMaster SPECS
Mezzanine
I2Cwidget
Croquette
ServerPC: pclbcecs03
SPECS
I2C
ClientPC: Portable
SpecsSrv
PVSS
PVSS00dimEthernet
DNS
SupportPC: pclhcb155
PVSS
PVSS00dim
Note: The DNS should run on a stable machine (same as PVSS), not on a portable…
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29Clara Gaspar, March 2006
Demo-4❚FwSpecs:
❙Server PC: pclbcecs03❘Configure DIM_DNS_NODE❘Start SpecsServer remotely
❙Client PC: portable❘Configure DIM_DNS_NODE❘Start SpecsClient “direct access” panel
〡Exercise I2C, JTAG, DCU❘Explain the “Monitoring” feature❘Show Advanced Panel (User Scripts)
❙Documentation at (not this version yet):❘ http://www.cern.ch/lhcb-online/ecs/PVSS_SPECS
❚ FwCcpc: very similar❙ Tools will be presented at Online meeting
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Custom Electronics❚Demo Example
SPECSMaster SPECS
Mezzanine
Velo Board
Server PC
SPECS
SpecsSrv
TTCrxBeetle1
Beetle2
I2C
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31Clara Gaspar, March 2006
Demo-5❚FwHw
❙Create HW types:❘ TTCrx, Beetle and VeloBoard
❙Configure Default Settings❙Create veloBoards
❘“Operate” the board❙Interface to Configuration Database
(cache)❘Save recipes (“PHYSICS”, “TEST”, etc.)❘Download recipes
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32Clara Gaspar, March 2006
Electronics guidelines❚FwHw: Some Guidelines
❙If a “chip” has many registers❘If they can be written in one single operation
〡Declare them as 1 register of size N〡This will optimize configuration time
❘Some (a few) can also be declared separately〡If they are often accessed individually
❚After using FwHw to define the boards:❙Design a user interface to operate each board type
❘The library fwSpecs or fwCcpc will give you access to the data to be visualized or sent to the board ex.: fwSpecs_read(“board1.ttcrx1.reg2”,…)
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33Clara Gaspar, March 2006
Control Hierarchy
...
ECS
DCS DAQ
DetDcs1
DetDcsN
SubSys1
SubSys2
Dev1
Dev2
Dev3
DetDaq1
SubSysN
DevN
LHCT.S.
...GAS
DSS
❚Building a Control Hierarchy❙And integrating Devices
❚Needs: FwFSM, LHCb guidelines
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34Clara Gaspar, March 2006
Control Units❚Each node is able to:
❙Summarize information (for the above levels)❙“Expand” actions (to the lower levels)❙Implement specific behaviour
& Take local decisions❘Sequence & Automate operations❘Recover errors
❙Include/Exclude children (i.e. partitioning)❘Excluded nodes can run is stand-alone
❙User Interfacing❘Present information and receive commands
DCS
Temp
Tracker Muon
HV
GAS
HV
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35Clara Gaspar, March 2006
Device Units❚Device Units
❙Provide the interface to real devices:(Electronics Boards, HV channels, trigger algorithms, etc.)❘Can be enabled/disabled❘In order to integrate a device within FSM
〡Deduce a STATE from device readings (in DPs)〡Implement COMMANDS as device settings
❘ Commands can apply the recipes previously defined
DevN
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36Clara Gaspar, March 2006
❚The FwFSM Component is based on:❙PVSS for:
❘Device Description (Run-time Database)❘Device Access (OPC, Profibus, drivers)❘Alarm Handling (Generation, Filtering, Masking, etc)❘Archiving, Logging, Scripting, Trending❘User Interface Builder❘Alarm Display, Access Control, etc.
❙SMI++ providing:❘Abstract behavior modeling (Finite State Machines)❘Automation & Error Recovery (Rule based system)
The Control FrameworkDe
vice
Uni
ts
Cont
rol U
nits
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37Clara Gaspar, March 2006
SMI++❚Method
❙Classes and Objects❘Allow the decomposition of a complex system
into smaller manageable entities❙Finite State Machines
❘Allow the modeling of the behavior of each entity and of the interaction between entities in terms of STATES and ACTIONS
❙Rule-based reasoning❘Allow Automation and Error Recovery
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38Clara Gaspar, March 2006
SMI++❚Method (Cont.)
❙SMI++ Objects can be:❘Abstract (e.g. a Run or the DCS)❘Concrete (e.g. a power supply or a temp. sensor)
❙Concrete objects are implemented externally either in "C", in C++, or in PVSS (ctrl scripts)
❙Logically related objects can be grouped inside "SMI domains" representing a given sub-system (Framework: Control Unit)
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39Clara Gaspar, March 2006
SMI++ Run-time Environment
ProxyProxyProxy
Hardware Devices
Obj
Obj
Obj
SMI Domain
ObjObjObj
Obj
Obj SMI Domain
❙Device Level: Proxies❘ drive the hardware:
〡deduceState〡handleCommands
❘ C, C++, PVSS ctrl scripts❙Abstract Levels: Domains
❘ Implement the logical model❘ Dedicated language - SML❘ A C++ engine: smiSM
❙User Interfaces❘ For User Interaction
❙All Tools available on: ❘ Windows, Unix (Linux) ❘ All communications are transparent
and dynamically (re)established
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40Clara Gaspar, March 2006
SMI++❚SMI++ - The Language
❙SML –State Management Language❘Finite State Logic
〡Objects are described as FSMstheir main attribute is a STATE
❘Parallelism〡Actions can be sent in parallel to several objects.
Tests on the state of objects can block if the objects are still “transiting”
❘Asynchronous Rules〡Actions can be triggered by logical conditions on the
state of other objects
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41Clara Gaspar, March 2006
SML – The languageclass: HighVoltage state: NOT_READY /initial_state action: GOTO_READY do SWITCH_ON all_in PSS if (all_in PSS in_state ON) then move_to READY endif move_to ERROR state: READY when ( any_in PSS in_state TRIP ) do RECOVER action: RECOVER do CLEAR all_in PSS do SWITCH_ON all_in PSS … action: GOTO_NOT_READY … state: ERROR … object: SubDetHV is_of_class HighVoltage
class: PowerSupply /associated state: UNKNOWN /dead_state state: OFF action : SWITCH_ON state: ON action : SWITCH_OFF state: TRIP action : CLEAR … object: PS1 is_of_class PowerSupply object: PS2 is_of_class PowerSupply object: PS3 is_of_class PowerSupply … objectset: PSS {PS1, PS2, PS3, …}
❚ Devices: ❚ Sub System:
❚ Objects can be dynamically included/excluded in a Set
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42Clara Gaspar, March 2006
SML example (automation)
object: RUN_CONTROL state: TEST_MODE when (LHC::STATE in_state PHYSICS) do PHYSICS action: PHYSICS do GOTO_READY all_in SubDetHVS if (all_in SubDetHVs in_state READY) do START_RUN DAQ … move_to PHYSICS_MODE state: PHYSICS_MODE …
object: LHC::STATE /associated state: UNKNOWN /dead_state state: PHYSICS state: SETUP state: OFF …
❚ External Device:
❚ Sub System:
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43Clara Gaspar, March 2006
PVSS/SMI++ Integration
❚ Graphical Configurationof SMI++ Using PVSS
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44Clara Gaspar, March 2006
Building Hierarchies❚Hierarchy of CUs
❙Distributed over several machines❘"&" means reference to
a CU in another system❙Editor Mode:
❘Add / Remove / Change Settings
❙Navigator Mode❘Start / Stop / View
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45Clara Gaspar, March 2006
Control Unit Run-Time❚Dynamically generated operation
panels(Uniform look and feel)
❚ Configurable User Panels
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46Clara Gaspar, March 2006
Features of PVSS/SMI++
❚Task Separation:❙SMI Proxies/PVSS Scripts execute only
basic actions – No intelligence❙SMI Objects implement the logic behaviour❙Advantages:
❘Change the HW -> change only PVSS
❘Change logic behavioursequencing and dependency of actions, etc -> change only SMI rules
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47Clara Gaspar, March 2006
Features of PVSS/SMI++
❚Error Recovery Mechanism❙Bottom Up
❘SMI Objects react to changes of their children〡In an event-driven, asynchronous, fashion
❙Distributed❘Each Sub-System recovers its errors
〡Each team knows how to recover local errors❙Hierarchical/Parallel recovery❙Can provide complete automation even
for very large systems
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48Clara Gaspar, March 2006
Demo-6❚Show a simple Hierarchy
❙Install fwLHCb_FsmDomains❙In installs standard LHCb FSM Domain Types❙And it creates:
❙Show Include/Exclude and Enable/Disable❙Show “Temp” FSM and Alarm Handling
VELODCS
VELOMotors
VELOTemp
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49Clara Gaspar, March 2006
Sub-detector FSM Guidelines
❚Started defining naming conventions.❚Defined standard “domains” per sub-detector:
❙ DCS❘ DCS Infrastructure (Cooling, Gas, Temperatures, pressures, etc) that is
normally stable throughout a running period❙ HV
❘ High Voltages or in general components that depend on the status of the LHC machine (fill related)
❙ DAQ❘ All Electronics and components necessary to take data (run related)
❙ DAQI❘ Infrastructure necessary for the DAQ to work (computers, networks,
electrical power, etc.) in general also stable throughout a running period. ❚And standard states & transitions per domain.❚ Doc available in EDMS:
❘ https://edms.cern.ch/document/655828/1
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50Clara Gaspar, March 2006
FSM Guidelines❚State Diagram for Trigger and DAQ Domains:
❙Possible intermediate “CONFIGURING” and “STARTING” states if operations slow…
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51Clara Gaspar, March 2006
MUONDCS
MUONHV
MUONDAQI
MUONDAQ
Hierarchy
VELODCS
Infrast. DCS HV DAQI DAQ L0 TFC HLT LHC
VELOHV
VELODAQI
VELODAQ
VELODCS_1
VELODCS_2
VELODAQ_1
VELODAQ_2
ECS
VELODev1VELO
Dev1VELODev1VELO
DevN
SubFarm1SubFarm
N
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52Clara Gaspar, March 2006
MUONDCS
MUONHV
MUONDAQI
MUONDAQ
Hierarchy & Conf. DB
VELODCS
Infrast. DCS HV DAQI DAQ L0 TFC HLT LHC
VELOHV
VELODAQI
VELODAQ
VELODCS_1
VELODCS_2
VELODAQ_1
VELODAQ_2
ECS
VELODev1VELO
Dev1VELODev1VELO
DevN
Conf.DB
3
2
1
1 Configure/mode=“PHYSICS”(Get “PHYSICS” Settings)Apply Settings
2
3
1
1
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53Clara Gaspar, March 2006
Demo-7❚Using type: DAQ_Domain❚Create:
❚Create type VeloBoard❚Integrate veloBoard1, veloBoard2,…
❙Apply recipes on “Configure” command❙Note: There will be a “configurator” object per CU
which gets recipes from DB to cache
VELODAQ
VELODev1VELO
Dev1VELOBoard1
VELOFEE
VELOTELL1
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54Clara Gaspar, March 2006
Demo-8❚Using type: ECS_Domain❚Create:
VELODAQ
VELODev1VELO
Dev1VELOBoard1
VELOFEE
VELOTELL1
VELODCS
VELOMotors
VELOTemp
VELOHV
VELO
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55Clara Gaspar, March 2006
The End❚Questions?
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56Clara Gaspar, March 2006
MUONDCS
MUONHV
MUONDAQI
MUONDAQ
Hierarchy & Partitioning
VELODCS
Infrast. DCS HV DAQI DAQ L0 TFC HLT LHC
VELOHV
VELODAQI
VELODAQ
VELODCS_1
VELODCS_2
VELODAQ_1
VELODAQ_2
ECS
VELO