ACNET vs EPICS at Fermilab Accelerator Physics and Technology Seminar Sharon Lackey 3/14/2006
Special Thanks to: § § § Ned Arnold – APS Fritz Bartlett – D 0 Dennis Nicklaus – AD/Controls Jim Patrick – AD/Controls Charlie Briegel – AD/Controls Brian Hendricks – AD/Controls ACNET vs EPICs at Fermilab 2
EPICS § § § What is EPICS What EPICS is not Who uses EPICS Comparison of EPICS and ACNET Other Solutions The Future ACNET vs EPICs at Fermilab 3
EPICS is … § Experimental Physics and Industrial Control System § A toolkit that Allows a Controls System to be built with configuration rather than programming § A set of tools with well defined interfaces § Written and Maintained by a Collaboration of Controls groups § Client/Server based § Distributed, Two Tiered Architecture § Allows Communication between any two points § Limited primarily by Network Bandwidth § Written in C and C++ ACNET vs EPICs at Fermilab 4
What is EPICS? * § Any tool/program/application that abides by the Channel Access protocol could be described as “EPICS Compliant”. My Special Data Collection Program MEDM CAC § EPICS can be viewed as a “toolkit” of EPICS compliant programs. One can select the appropriate tool for their need or develop their own. Strip. Tool CAC CAS My Accelerator Simulator Code CAC CAS CAC ioc. Core Lab. View (PVs) *Courtesy of N. Arnold ACNET vs EPICs at Fermilab 5
CA Clients may run on: Unix, Windows, Vx. Works or VMS Ethernet TCP/IP & UDP Servers running under: Vx. Works, Rj. TEMS, Solaris, Linux, Windows, VME, VXI, PCI, ISA, or embedded processors ACNET vs EPICs at Fermilab 6
EPICS IS… § EPICS Core: Ø Channel Access Client and Server Ø Process Database Ø Scanners Ø Monitors Ø Database Configuration Tools Ø Build Tools Ø Source/Release § EPICS Extensions: Ø GUI Builders: • • • EDD/DM (LNAL) MEDM (ANL) EDM (ORNL) DM 2 K (BESSY) Joi. Mint (DESY) Ø Alarm Handler Ø Ø Ø Channel Archiver Sequencer (State Machine) BURT (Back up and Restore Tool) Gateway APIs • • • Python Lab. VIEW TCL/TK Ø Data Display Tools • ADT (Array Display Tool) • Strip. Tool (Strip Chart Plotting Tool) • Yviewer (Data Visualization Tool) Ø Database Configuration/Management Tools • • • DCT (Tcl/Tk – deprecated) GDCT (Graphical – deprecated) JDCT (Java) VDCT (Visual) Cap. Fast (Commercial schematic capture Tool… Ø More we won’t mention… ACNET vs EPICs at Fermilab 7
Inside a VME IOC * Ethernet LAN Channel Access Scanners DB Load Database Access IOC Database Record Support Customizing Elements Device Support Driver VME *Courtesy of F. Bartlett ACNET vs EPICs at Fermilab 8
Channel Access in One Slide * “connection request” or “search request” “get” or “ca. Get” “set a monitor” Change its value to 30. 5 Who has a PV named “S 1 A: H 1: Current. AO”? “put” or “ca. Put” Notify me when the value changes What is its value? Channel Access Client CA Server Channel Access Server I do. Process Variables: 25. 5 AMPS *Courtesy of N. Arnold It is now 10. 5 AMPS or 30. 5 is too high. It is now set to the maximum value of 27. 5. or It is now 0. 0023 AMPS “post an event” or “post a monitor” You are not authorized to change this value S 1: P 1: y S 1: G 1: vacuum It is now 20. 5 AMPS “put complete” S 1 A: H 1: Current. AO S 1: P 1: x OK, it is now 30. 5 ACNET vs EPICs at Fermilab 9
EPICS is NOT… § A Control System “in a box” § The total solution for all your controls needs § Going to allow you to get rid of the controls dept. & all programming § Object Oriented ACNET vs EPICs at Fermilab 10
Channel Access Records § Analog Ø Ø Input (double float) Output Long Input (32 bit integer) Long output § Binary Ø Ø Ø Input Out Multi-bit Input (16 bits) Multi-bit Output Multi-bit Input Direct (16 bit integer to char[16] ) Ø Multi-bit Output Direct ( char[16] to 16 bit integer) § Archive § § § § Calculation Out Compression CPID and PID fanout and dfanout (data fanout) Event (hardware int. handler) Histogram Permissive (client-server communication) § Pulse Ø Counter (counts pulses) Ø Delay (generates pulses) Ø Train (generates pulse trains) § Scan (used to scan detectors) ACNET vs EPICs at Fermilab 11
Channel Access Records § § § Select (12 input mux) Sequence (triggers up to 10 other records and sends values) State ( ASCII string representing the current state of a state program ) Stepper Motor String Ø Input Ø Output § Array Ø Waveform Ø Sub Array ( reads part of a waveform) § Subroutine (calls a C routine with up to 12 input links) § Timer ( drives an output to latch data) § Wait – obsolete, replaced by calc out ACNET vs EPICs at Fermilab 12
Who Uses EPICS ? (an incomplete list) § § § SNS & ORNL JLAB APS & ANL LBL LANL DESY BESSY Cosy. Lab Kinetic Systems Intuit FNAL (D 0 & SMTF) ACNET vs EPICs at Fermilab 13
Comparison of EPICS and ACNET § § ACNET Ø Ø Ø EPICS 3 Tiers Central Services Client/Server Uses UDP Uses Multicasts Multiple protocols • • Snapshot FTP Data acquisition (Ret. Dat/Set. Dat) Network (Acnet) Ø Single Site Ø Ø Ø 2 Tiers Distributed Services Client/Server Uses TCP/IP Uses Broadcasts Single protocol • Data Acquisition (Channel Access) Ø Collaboration • More Control • Less help Ø Lots of Specialized User Applications Ø Limited to Six Character Names Ø FTDs ACNET vs EPICs at Fermilab • More Help • Less Control Ø One GUI Application can be used to create many displays Ø Names can be very long Ø Data scan rate set in database 14
ACNET Control System Overview * Application Central Console Applications Java Applications Web Applications Central Services Servlets Open Access Clients Labview Front-Ends IRM Front-Ends Database ethernet MOOC Front-Ends Front-End field bus: VME, SLD, Arcnet, ethernet, … Field Hardware CAMAC, VME, PMC, IP, Multibus, CIA, GPIB, … *Courtesy of J. Patrick ACNET vs EPICs at Fermilab 15
EPICS Use at Fermilab § D 0 slow controls Ø Using EPICS since beginning of Run 2 Ø Extended EPICS by: • • • Adding support for new device types Added Global Event reporting system Added a Central Database Added support for MIL/STD 1553 B bus Detector configuration tool § Proton Driver Ø Plans to use EPICs § Meson Test Facility Ø Using EPICS, DOOCs and ACNET vs EPICs at Fermilab 16
ACNET on One Slide Read M: OUTTMP Application 1 Read C: LUMIN Console Application 2 Already getting this data? Data Pool Manager SQL Client No Ret. Dat/Set. Dat Client I’ll get the info and calculate the value What is its value? Console OAC Central Services Local Applications SQL Server Methods MOOC Database Entries Retdat/Setdat Server Retdat/Setdat Client Retdat/Setdat Server MOOC Retdat/Setdat Client Front Ends Retdat/Setdat Client Retdat/Setdat Server Methods MOOC Methods Local Applications ACNET vs EPICs at Fermilab 17
Meson Test Facility § EPICS used for Cryogenics Controls interface to Siemens. Moore PLCs Ø Implemented in Software IOCs on the PCs that run the APACS+ software Ø Communicate with the PLCs via OPC (OLE for Process Control ) § EPICs driver for DESY’s Sim. Con 3. 1 LLRF board § Edm used as the GUI builder § Using extensions: Plan to use: Alarm handler Strip. Tool for plots BURT Channel Archiver ACNET vs EPICs at Fermilab 18
Brown Refrigerator GUI Display in edm ACNET vs EPICs at Fermilab 19
Alarm Handler for Meson Test Facility Cryo ACNET vs EPICs at Fermilab 20
Strip Tool Plotter ACNET vs EPICs at Fermilab 21
ACNET vs EPICs at Fermilab 22
Why Use EPICS @ Meson & ILC Test Facility? § Test Facility will be used by many visitors from various labs § EPICs is used at more labs than other controls systems § Argonne personnel have expertise § D 0 personnel have expertise § EPICs or its successor may be considered for the ILC § FNAL needs to develop expertise in EPICS in order to fully evaluate it ACNET vs EPICs at Fermilab 23
Why not use EPICS Now at Fermilab? § § § ACNET is a stable, full featured controls system Operators are familiar with ACNET Huge investment in existing code Users can easily write applications for ACNET is now ported to Linux We can modify ACNET without the approval of a collaboration § Switching controls systems would be a monumental task § We would lose functionality ACNET vs EPICs at Fermilab 24
Why Should We Switch to EPICS at Fermilab? § § We can benefit from the collaboration of laboratories We can influence the characteristics of Version 4. 0 EPICS or its successor may be the choice for the ILC Professional development of staff ACNET vs EPICs at Fermilab 25
What Does ACNET have that EPICS doesn’t? § § § The Parameter Page Ability to add a data channel on the fly Data has associated error status on each return Redirection Consolidation of requests to front ends Wild card devices Snapshot plots Automatic downloads of settings on reboot Automatic logging of settings SDA Consolidated Error reports An integrated Console environment ACNET vs EPICs at Fermilab 26
ACNET Parameter Page ACNET vs EPICs at Fermilab 27
ACNET vs EPICs at Fermilab 28
What Does EPICS have that ACNET Doesn’t? § § Longer More Descriptive names Distributed database Wide user base and on-line Tech-Talk help Front ends can be “programmed” by configuring database records with minimal real programming ACNET vs EPICs at Fermilab 29
Some Other Control Systems § § Tango (Collaboration of Light Sources) LHC (new system using Java, CORBA & C++) DOOCS (DESY Object Oriented Controls System) ALMA Common Software (Large Array Telescope) ACNET vs EPICs at Fermilab 30
The FUTURE: Version 4. 0 § Provide online add/delete of I/O to support continuous operation. § Provide redundant control of remote I/O to support improved reliability. § Provide name introspection and domain control in support of seamless integration of large control systems § Provide triggers, filters, and rate limits to improve resource use of network and client side processing § Provide hierarchical devices to support higher level view of application in the front-end processors. ACNET vs EPICs at Fermilab 31
Version 4. 0 cont. § Provide automatic backup and restore to support bumpless reboot and synchronization of redundant controllers. § Provide atomic read, write, and write with read-back to multiple channels to support synchronized access of arbitrary sets of channels. § Support international users with uni-code and time. § Remove limitations on string lengths, device states, number of input links to support arbitrary sizes. § Internationalize Time Stamps ACNET vs EPICs at Fermilab 32
Version 4. 0 cont. § Allow definition and access to complex devices and multi-dimensional arrays § Name hierarchy in Channel Access § <arbitrary string>. structure. Element[n] Ø e. g. Arc 3 Pwr. Supply. readback. status, Arc. Pwr. Supply. readback. value § Device description in database § Support arbitrary number of inputs to calculations and subroutines. § Support multi-state devices of an arbitrary number of states ACNET vs EPICs at Fermilab 33
Version 4. 0 cont. § Allow wildcard searches § Allow request to send all names supported in the IOC § Support redundancy by allowing connections to specify that they are not active § Support multiple name servers by allowing connections to specify how close to the source they are. § Support Name aliases ACNET vs EPICs at Fermilab 34
Another Initiative § EPICs Office Ø Led by Matthias Clausen of DESY Ø Initiative to provide an Integrated Development Environment for EPICs Ø Provide a common look and feel across EPICs applications ACNET vs EPICs at Fermilab 35
Status of Version 4. 0 as of Feb 3, 2006 Ned Arnold (for the APS Team) wrote in Tech. Talk: Upon review of last year's efforts and accomplishments, we have realized that EPICS Version 4 is too large of a development to successfully undertake with the part-time resources that can be leveraged from operating facilities. In addition, the ambitious redesign of major portions of EPICS core (database, communications API, device support interface) would be a significant impediment for operating facilities to migrate to Version 4. Therefore, under the current EPICS collaborative structure (and funding model), we have made a decision to focus on small incremental evolutionary steps (3. 15, 3. 16, etc) rather than revolutionary leaps. We will evaluate the desired features of V 4 and develop a roadmap for incorporating some of these features into Version 3. More significant changes/features will have to wait until new opportunities present themselves to fund substantial developments (there a few ideas on the table, however). ACNET vs EPICs at Fermilab 36
Andrew Johnson has taken over responsibility of "keeper of the source". His primary emphases will be reliability, maintainability and establishing a well-defined forward migration path for existing applications as new features are added. Some features already identified for possible incorporation into 3. x include enhancement of the build system; unbundling BASE into Core, Channel Access, and IOC; variable length strings; etc. Because of our limited resources, we will be looking for significant assistance in developing these features (i. e. the timeline for delivery is directly proportional to available resources). Some V 4 research and development will continue, but not led or coordinated by Argonne. One effort will include investigation of hierarchical records, "devices", and emerging protocols. An initial implementation of some of these ideas will be in a Java IOC (Marty Kraimer is working on this development). Another emerging development effort is the Control System Studio (a. k. a EPICS Office) and IOC redundancy driven by DESY. Any successes in these areas will be considered for integration somewhere in the future. Contact Bob Dalesio or Matthias Clausen if you are interested in these activities. ACNET vs EPICs at Fermilab 37
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