Contents

• 1. Introduction
  • 1.1 Introduction to device server
  • 1.2 Device server history
  
  
• 2. Getting Started
  • 2.1 A Java TANGO client
  • 2.2 A C++ TANGO client
  • 2.3 A TANGO device server
    • 2.3.1 The commands and attributes code in C++
    • 2.3.2 The commands and attributes code in java
  
  
• 3. The TANGO device server model
  • 3.1 Introduction to CORBA
  • 3.2 The model
  • 3.3 The device
    • 3.3.1 The commands
    • 3.3.2 The TANGO attributes
    • 3.3.3 Command or attributes ?
    • 3.3.4 The CORBA attributes
    • 3.3.5 The remaining CORBA operations
    • 3.3.6 The special case of the device state and status
    • 3.3.7 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
  • 4.1 Introduction
  • 4.2 Getting Started
  • 4.3 Basic Philosophy
  • 4.4 Data types
  • 4.5 Request model
    • 4.5.1 Synchronous model
    • 4.5.2 Asynchronous model
  • 4.6 Events
    • 4.6.1 Introduction
    • 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
  • 4.7 Group
    • 4.7.1 Getting started with Tango group
    • 4.7.2 Forward or not forward?
    • 4.7.3 Executing a command
    • 4.7.4 Reading attribute(s)
    • 4.7.5 Writing an attribute
  • 4.8 Device locking
  • 4.9 Reconnection and exception
  • 4.10 Thread safety
  • 4.11 Compiling and linking a Tango client
  
  
• 5. TANGO Java API
  • 5.1 Introduction
    • 5.1.1 Description
    • 5.1.2 Basic Philosophy
    • 5.1.3 Classes
    • 5.1.4 Reporting errors
    • 5.1.5 Compiling a Java client
  • 5.2 Reference manual
  
  
• 6. The TANGO C++ Application Programmer Interface
  • 6.1 Tango::DeviceProxy()
    • 6.1.1 Constructors
    • 6.1.2 Miscellaneous methods
    • 6.1.3 Synchronous command oriented methods
    • 6.1.4 Synchronous attribute related methods
    • 6.1.5 Asynchronous command oriented methods
    • 6.1.6 Asynchronous attribute related methods
    • 6.1.7 Miscellaneous asynchronous related methods
    • 6.1.8 Polling related methods
    • 6.1.9 Event related methods
    • 6.1.10 Property related methods
    • 6.1.11 Logging related methods
    • 6.1.12 Locking related methods
  • 6.2 Tango::DeviceData
    • 6.2.1 Constructors, assignement operators and C++11
    • 6.2.2 Operators
    • 6.2.3 bool DeviceData::is_empty()
    • 6.2.4 int DeviceData::get_type()
    • 6.2.5 void DeviceData::exceptions(bitset<DeviceData::numFlags> )
    • 6.2.6 bitset<DeviceData::numFlags> exceptions()
    • 6.2.7 void DeviceData::reset_exceptions(DeviceData::except_flags fl)
    • 6.2.8 void DeviceData::set_exceptions(DeviceData::except_flags fl)
    • 6.2.9 ostream &operator<<(ostream &, DeviceData &)
  • 6.3 Tango::DeviceDataHistory
    • 6.3.1 bool DeviceDataHistory::has_failed()
    • 6.3.2 TimeVal &DeviceDataHistory::get_date()
    • 6.3.3 const DevErrorList &DeviceDataHistory::get_err_stack()
    • 6.3.4 ostream &operator<<(ostream &, DeviceDataHistory &)
  • 6.4 Tango::DeviceAttribute
    • 6.4.1 Constructors, assignement operators
    • 6.4.2 Data Extraction and Insertion : Operators and Methods
    • 6.4.3 bool DeviceAttribute::is_empty()
    • 6.4.4 void DeviceAttribute::exceptions(bitset<DeviceAttribute::numFlags>)
    • 6.4.5 bitset<DeviceAttribute::numFlags> exceptions()
    • 6.4.6 void DeviceAttribute::reset_exceptions(DeviceAttribute::except_flags fl)
    • 6.4.7 void DeviceAttribute::set_exceptions(DeviceAttribute::except_flags fl)
    • 6.4.8 bool DeviceAttribute::has_failed()
    • 6.4.9 const DevErrorList &DeviceAttribute::get_err_stack()
    • 6.4.10 string &DeviceAttribute::get_name()
    • 6.4.11 void DeviceAttribute::set_name(string &)
    • 6.4.12 void DeviceAttribute::set_name(const char *)
    • 6.4.13 AttrQuality &DeviceAttribute::get_quality()
    • 6.4.14 int DeviceAttribute::get_dim_x()
    • 6.4.15 int DeviceAttribute::get_dim_y()
    • 6.4.16 int DeviceAttribute::get_written_dim_x()
    • 6.4.17 int DeviceAttribute::get_written_dim_y()
    • 6.4.18 AttributeDimension DeviceAttribute::get_r_dimension()
    • 6.4.19 AttributeDimension DeviceAttribute::get_w_dimension()
    • 6.4.20 long DeviceAttribute::get_nb_read()
    • 6.4.21 long DeviceAttribute::get_nb_written()
    • 6.4.22 TimeVal &DeviceAttribute::get_date()
    • 6.4.23 int DeviceAttribute::get_type()
    • 6.4.24 AttrDataFormat DeviceAttribute::get_data_format()
    • 6.4.25 ostream &operator<<(ostream &, DeviceAttribute &)
  • 6.5 Tango::DeviceAttributeHistory
    • 6.5.1 ostream &operator<<(ostream &, DeviceAttributeHistory &)
  • 6.6 Tango::AttributeProxy()
    • 6.6.1 Constructors
    • 6.6.2 Miscellaneous methods
    • 6.6.3 Synchronous related methods
    • 6.6.4 Asynchronous methods
    • 6.6.5 Polling related methods
    • 6.6.6 Event related methods
    • 6.6.7 Property related methods
  • 6.7 Tango::ApiUtil
    • 6.7.1 static ApiUtil *ApiUtil::instance()
    • 6.7.2 static void ApiUtil::cleanup()
    • 6.7.3 long ApiUtil::pending_asynch_call(asyn_req_type req)
    • 6.7.4 void ApiUtil::get_asynch_replies()
    • 6.7.5 void ApiUtil::get_asynch_replies(long timeout)
    • 6.7.6 void ApiUtil::set_asynch_cb_sub_model(cb_sub_model model)
    • 6.7.7 cb_sub_model ApiUtil::get_asynch_cb_sub_model()
    • 6.7.8 static int ApiUtil::get_env_var(const char *name,string &value)
    • 6.7.9 void set_event_buffer_hwm(DevLong val)
  • 6.8 Asynchronous callback related classes
    • 6.8.1 Tango::CallBack
    • 6.8.2 Tango::CmdDoneEvent
    • 6.8.3 Tango::AttrReadEvent
    • 6.8.4 Tango::AttrWrittenEvent
    • 6.8.5 Tango::EventData
    • 6.8.6 Tango::AttrConfEventData
    • 6.8.7 Tango::DataReadyEventData
  • 6.9 Tango::Group
    • 6.9.1 Constructor and Destructor
    • 6.9.2 Group Management Related Methods
    • 6.9.3 A la DeviceProxy Methods
  • 6.10 Tango::Database
    • 6.10.1 Database::Database()
    • 6.10.2 string Database::get_info()
    • 6.10.3 void Database::add_device(DbDevInfo&)
    • 6.10.4 void Database::delete_device(string)
    • 6.10.5 DbDevImportInfo Database::import_device(string &)
    • 6.10.6 void Database::export_device(DbDevExportInfo&)
    • 6.10.7 void Database::unexport_device(string)
    • 6.10.8 void Database::add_server(string &, DbDevInfos&)
    • 6.10.9 void Database::delete_server(string &)
    • 6.10.10 void Database::export_server( DbDevExportInfos &)
    • 6.10.11 void Database::unexport_server(string &)
    • 6.10.12 DbDatum Database::get_services(string &servicename,string &instname)
    • 6.10.13 void Database::register_service(string &servicename,string &instname,string &devname)
    • 6.10.14 void Database::unregister_service(string &servicename,string &instname)
    • 6.10.15 DbDatum Database::get_host_list()
    • 6.10.16 DbDatum Database::get_host_list(string &wildcard)
    • 6.10.17 DbDatum Database::get_server_class_list(string &server)
    • 6.10.18 DbDatum Database::get_server_name_list()
    • 6.10.19 DbDatum Database::get_instance_name_list(string &servername)
    • 6.10.20 DbDatum Database::get_server_list()
    • 6.10.21 DbDatum Database::get_server_list(string &wildcard)
    • 6.10.22 DbDatum Database::get_host_server_list(string &hostname)
    • 6.10.23 DbServerInfo Database::get_server_info(string &server)
    • 6.10.24 void Database::put_server_info(DbServerInfo &info)
    • 6.10.25 void Database::delete_server_info(string &server)
    • 6.10.26 DbDatum Database::get_device_name(string &, string &)
    • 6.10.27 DbDatum Database::get_device_exported(string &)
    • 6.10.28 DbDatum Database::get_device_domain(string &)
    • 6.10.29 DbDatum Database::get_device_family(string &)
    • 6.10.30 DbDatum Database::get_device_member(string &)
    • 6.10.31 DbDatum Database::get_device_class_list(string &server)
    • 6.10.32 string Database::get_class_for_device(string &devname)
    • 6.10.33 DbDatum Database::get_class_inheritance_for_device(string &devname)
    • 6.10.34 DbDatum Database::get_device_exported_for_class(string &classname)
    • 6.10.35 DbDatum Database::get_object_list(string &wildcard)
    • 6.10.36 DbDatum Database::get_object_property_list(string &objectname,string &wildcard)
    • 6.10.37 void Database::get_property(string, DbData&)
    • 6.10.38 void Database::put_property(string, DbData&)
    • 6.10.39 void Database::delete_property(string, DbData&)
    • 6.10.40 vector<DbHistory> Database::get_property_history(string &objname, string &propname)
    • 6.10.41 void Database::get_device_property(string, DbData&)
    • 6.10.42 void Database::put_device_property(string, DbData&)
    • 6.10.43 void Database::delete_device_property(string, DbData&)
    • 6.10.44 vector<DbHistory> Database::get_device_property_history(string &devname, string &propname)
    • 6.10.45 void Database::get_device_attribute_property(string, DbData&)
    • 6.10.46 void Database::put_device_attribute_property(string, DbData&)
    • 6.10.47 void Database::delete_device_attribute_property(string, DbData&)
    • 6.10.48 vector<DbHistory> Database::get_device_attribute_property_history(string &devname, string &attname, string &propname)
    • 6.10.49 DbDatum Database::get_class_list(string &wildcard)
    • 6.10.50 DbDatum Database::get_class_property_list(string &classname)
    • 6.10.51 void Database::get_class_property(string, DbData&)
    • 6.10.52 void Database::put_class_property(string, DbData&)
    • 6.10.53 void Database::delete_class_property(string, DbData&)
    • 6.10.54 vector<DbHistory> Database::get_class_property_history(string &classname, string &propname)
    • 6.10.55 DbDatum Database::get_class_attribute_list(string &classname,string &wildcard)
    • 6.10.56 void Database::get_class_attribute_property(string, DbData&)
    • 6.10.57 void Database::put_class_attribute_property(string, DbData&)
    • 6.10.58 void Database::delete_class_attribute_property(string, DbData&)
    • 6.10.59 vector<DbHistory> Database::get_class_attribute_property_history(string &devname, string &attname, string &propname)
    • 6.10.60 void Database::get_alias(string dev_name, string &dev_alias)
    • 6.10.61 void Database::get_device_alias(string dev_alias, string &dev_name)
    • 6.10.62 void Database::get_attribute_alias(string attr_alias, string &attr_name)
    • 6.10.63 void Database::put_attribute_alias(string &att_name, string &alias_name)
    • 6.10.64 void Database::delete_attribute_alias(string &alias_name)
    • 6.10.65 DbDatum Database::get_device_alias_list(string &filter)
    • 6.10.66 DbDatum Database::get_attribute_alias_list(string &filter)
    • 6.10.67 void Database::put_device_alias(string &dev_name,string &alias_name)
    • 6.10.68 void Database::delete_device_alias(string &alias_name)
  • 6.11 Tango::DbDevice
    • 6.11.1 DbDevice::DbDevice(string &)
    • 6.11.2 DbDevice::DbDevice(string &, Database *)
    • 6.11.3 DbDevImportInfo DbDevice::import_device()
    • 6.11.4 void DbDevice::export_device(DbDevExportInfo&)
    • 6.11.5 void DbDevice::add_device(DbDevInfo&)
    • 6.11.6 void DbDevice::delete_device()
    • 6.11.7 void DbDevice::get_property(DbData&)
    • 6.11.8 void DbDevice::put_property(DbData&)
    • 6.11.9 void DbDevice::delete_property(DbData&)
    • 6.11.10 void DbDevice::get_attribute_property(DbData&)
    • 6.11.11 void DbDevice::put_attribute_property(DbData&)
    • 6.11.12 void DbDevice::delete_attribute_property(DbData&)
  • 6.12 Tango::DbClass
    • 6.12.1 DbClass::DbClass(string)
    • 6.12.2 DbClass::DbClass(string, Database *)
    • 6.12.3 void DbClass::get_property(DbData&)
    • 6.12.4 void DbClass::put_property(DbData&)
    • 6.12.5 void DbClass::delete_property(DbData&)
    • 6.12.6 void DbClass::get_attribute_property(DbData&)
    • 6.12.7 void DbClass::put_attribute_property(DbData&)
    • 6.12.8 void DbClass::delete_attribute_property(DbData&)
  • 6.13 Tango::DbServer
    • 6.13.1 DbServer::DbServer(string)
    • 6.13.2 DbServer::DbServer(string, Database *)
    • 6.13.3 void DbServer::add_server(DbDevInfos &)
    • 6.13.4 void DbServer::delete_server()
    • 6.13.5 void DbServer::export_server(DbDevExportInfos &)
    • 6.13.6 void DbServer::unexport_server()
  • 6.14 Tango::DbDatum
    • 6.14.1 Operators
    • 6.14.2 bool DbDatum::is_empty()
    • 6.14.3 void DbDatum::exceptions(bitset<DbDatum::numFlags>)
    • 6.14.4 bitset<DbDatum::numFlags> exceptions()
    • 6.14.5 void DbDatum::reset_exceptions(DbDatum::except_flags fl)
    • 6.14.6 void DbDatum::set_exceptions(DbDatum::except_flags fl)
  • 6.15 Tango::DbData
  • 6.16 Exception
    • 6.16.1 The ConnectionFailed exception
    • 6.16.2 The CommunicationFailed exception
    • 6.16.3 The WrongNameSyntax exception
    • 6.16.4 The NonDbDevice exception
    • 6.16.5 The WrongData exception
    • 6.16.6 The NonSupportedFeature exception
    • 6.16.7 The AsynCall exception
    • 6.16.8 The AsynReplyNotArrived exception
    • 6.16.9 The EventSystemFailed exception
    • 6.16.10 The NamedDevFailedList exception
    • 6.16.11 The DeviceUnlocked exception
  • 6.17 Reconnection and exception
  
  
• 7. TangoATK Programmer's Guide
  • 7.1 Introduction
    • 7.1.1 Assumptions
  • 7.2 The key concepts of TangoATK
    • 7.2.1 Minimize development time
    • 7.2.2 Minimize bugs in applications
    • 7.2.3 Attributes and commands from different devices
    • 7.2.4 Avoid code duplication
  • 7.3 The real getting started
    • 7.3.1 Single device applications
    • 7.3.2 Multi device applications
    • 7.3.3 More on displaying attributes
    • 7.3.4 A short note on the relationship between models and viewers
  • 7.4 The key objects of TangoATK
    • 7.4.1 The Refreshers
    • 7.4.2 The DeviceFactory
    • 7.4.3 The AttributeFactory and the CommandFactory
    • 7.4.4 The AttributeList and the CommandList
    • 7.4.5 The Attributes
    • 7.4.6 The Commands
  
  
• 8. Writing a TANGO device server
  • 8.1 The device server framework
    • 8.1.1 Naming convention and programming language
    • 8.1.2 The device pattern
    • 8.1.3 Startup of a device pattern
    • 8.1.4 Command execution sequence
    • 8.1.5 The automatically added commands
    • 8.1.6 Reading/Writing attributes
    • 8.1.7 The device server framework
  • 8.2 Exchanging data between client and server
    • 8.2.1 Command / Attribute data types
    • 8.2.2 Passing data between client and server
    • 8.2.3 C++ memory management
    • 8.2.4 Reporting errors
  • 8.3 The Tango Logging Service
    • 8.3.1 Logging Targets
    • 8.3.2 Logging Levels
    • 8.3.3 Sending TANGO Logging Messages
  • 8.4 Writing a device server
    • 8.4.1 Understanding the device
    • 8.4.2 Defining device commands
    • 8.4.3 Choosing device state
    • 8.4.4 Device server utilities to ease coding/debugging
    • 8.4.5 Avoiding name conflicts
    • 8.4.6 The device server main function
    • 8.4.7 The DServer::class_factory method (C++ specific)
    • 8.4.8 Writing the StepperMotorClass class
    • 8.4.9 The DevReadPositionCmd class
    • 8.4.10 The PositionAttr class
    • 8.4.11 The StepperMotor class
  • 8.5 Device server under Windows
    • 8.5.1 The Tango device server graphical interface
    • 8.5.2 MFC device server
    • 8.5.3 Win32 application
    • 8.5.4 Device server as NT service
  • 8.6 Compiling, linking and executing a TANGO device server process
    • 8.6.1 Compiling and linking a C++ device server
    • 8.6.2 Running a C++ device server
    • 8.6.3 Compiling a Java device server
    • 8.6.4 Running a Java device server
  • 8.7 Advanced programming techniques
    • 8.7.1 Receiving signal (C++ specific)
    • 8.7.2 Inheriting
    • 8.7.3 Using another device pattern implementation within the same server
  
  
• 9. Advanced features
  • 9.1 Attribute alarms
    • 9.1.1 The level alarms
    • 9.1.2 The Read Different than Set (RDS) alarm
  • 9.2 Device polling
    • 9.2.1 Introduction
    • 9.2.2 Configuring the polling system
    • 9.2.3 Reading data from the polling buffer
    • 9.2.4 Retrieving command/attribute result history
    • 9.2.5 Externally triggered polling (only for C++ device server)
    • 9.2.6 Filling polling buffer (only for C++ device server)
    • 9.2.7 Setting and tuning the polling in a Tango class
  • 9.3 Threading
    • 9.3.1 C++ device server process
    • 9.3.2 C++ client process
  • 9.4 Generating events in a device server
  • 9.5 Using multicast protocol to transfer events
    • 9.5.1 Configuring events to use multicast transport
    • 9.5.2 Default multicast related properties
  • 9.6 Memorized attribute
  • 9.7 Transfering images
  • 9.8 Device server with user defined event loop
  • 9.9 Device server using file as database
  • 9.10 Device server without database
    • 9.10.1 Example of device server started without database usage
    • 9.10.2 Connecting client to device within a device server started without database
  • 9.11 Multiple database servers within a Tango control system
  • 9.12 The Tango controlled access system
    • 9.12.1 User rights definition
    • 9.12.2 Running a Tango control system with the controlled access
  
  
• A. Reference part
  • A.1 Device parameter
    • A.1.1 The device black box
    • A.1.2 The device description field
    • A.1.3 The device state and status
    • A.1.4 The device polling
    • A.1.5 The device logging
  • A.2 Device attribute
    • A.2.1 Hard-coded device attribute parameters
    • A.2.2 Modifiable attribute parameters
    • A.2.3 Setting modifiable attribute parameters
    • A.2.4 Resetting modifiable attribute parameters
  • A.3 Device class parameter
  • A.4 The device black box
  • A.5 Automatically added commands
    • A.5.1 The State command
    • A.5.2 The Status command
    • A.5.3 The Init command
  • A.6 DServer class device commands
    • A.6.1 The State command
    • A.6.2 The Status command
    • A.6.3 The DevRestart command
    • A.6.4 The RestartServer command
    • A.6.5 The QueryClass command
    • A.6.6 The QueryDevice command
    • A.6.7 The Kill command
    • A.6.8 The QueryWizardClassProperty command
    • A.6.9 The QueryWizardDevProperty command
    • A.6.10 The QuerySubDevice command
    • A.6.11 The StartPolling command
    • A.6.12 The StopPolling command
    • A.6.13 The AddObjPolling command
    • A.6.14 The RemObjPolling command
    • A.6.15 The UpdObjPollingPeriod command
    • A.6.16 The PolledDevice command
    • A.6.17 The DevPollStatus command
    • A.6.18 The LockDevice command
    • A.6.19 The UnLockDevice command
    • A.6.20 The ReLockDevices command
    • A.6.21 The DevLockStatus command
    • A.6.22 The EventSubscriptionChange command (C++ server only)
    • A.6.23 The ZmqEventSubscriptionChange command (C++ server only)
    • A.6.24 The AddLoggingTarget command
    • A.6.25 The RemoveLoggingTarget command
    • A.6.26 The GetLoggingTarget command
    • A.6.27 The GetLoggingLevel command
    • A.6.28 The SetLoggingLevel command
    • A.6.29 The StopLogging command
    • A.6.30 The StartLogging command
  • A.7 DServer class device properties
  • A.8 Tango log consumer
    • A.8.1 The available Log Consumer
    • A.8.2 The Log Consumer interface
  • A.9 Control system specific
    • A.9.1 The device class documentation default value
    • A.9.2 The services definition
    • A.9.3 Tuning the event system buffers (HWM)
    • A.9.4 Allowing NaN when writing attributes (floating point)
    • A.9.5 Tuning multicasting event propagation
    • A.9.6 Summary of CtrlSystem free object properties
  • A.10 C++ specific
    • A.10.1 The Tango master include file (tango.h)
    • A.10.2 Tango specific pre-processor define
    • A.10.3 Tango specific types
    • A.10.4 Tango device state code
    • A.10.5 Tango data type
    • A.10.6 Tango command display level
  • A.11 Java specific
    • A.11.1 Packages
  • A.12 Device server process option and environment variables
    • A.12.1 Classical device server
    • A.12.2 Device server process as Windows service
    • A.12.3 Environment variables
  
  
• B. The TANGO IDL file : Module Tango
  • B.1 Aliases
  • B.2 Enums
  • B.3 Structs
  • B.4 Unions
  • B.5 Exceptions
  • B.6 Interface Tango::Device
    • B.6.1 Attributes
    • B.6.2 Operations
  • B.7 Interface Tango::Device_2
    • B.7.1 Operations
  • B.8 Interface Tango::Device_3
    • B.8.1 Operations
  • B.9 Interface Tango::Device_4
    • B.9.1 Operations
  
  
• C. Tango object naming (device, attribute and property)
  • C.1 Device name
  • C.2 Full object name
    • C.2.1 Some examples
  • C.3 Device and attribute name alias
  • C.4 Reserved words and characters, limitations
  
  
• D. Starting a Tango control system
  • D.1 Without database
  • D.2 With database
  • D.3 With database and event
    • D.3.1 For Tango releases lower than 8
    • D.3.2 For release 8 and above
  • D.4 With file used as database
  • D.5 With file used as database and event
    • D.5.1 For Tango releases lower than 8
    • D.5.2 For release 8 and above
  • D.6 With the controlled access
  
  
• E. The notifd2db utility
  • E.1 The notifd2db utility usage (For Tango releases lower than 8)
  
  
• F. The property file syntax
  • F.1 Property file usage
  • F.2 Property file syntax
  
  
• Bibliography
• Index