First impressions using ACS. Installing and using
Contents
1. from time import sleep sc PySimpleClient sys argv tf sc getComponent TEST_TF_1 temp tf _get_temperature i 1 while i lt 100 print temp get_sync i 1 sleep 1 The client imports the module PySimpleClient and acsexmplTempFile_idl The last one will be created by the IDL compiler Then we create sc a simple Python client The simplest way to create a client is to call it without arguments sc PySimpleClient but it is also possible to pass some arguments which tell the client the location of the com ponent for example on another host If we want to pass this information it should have the following format so that the PySimpleClient successfully recognizes it client py managerCORBALoc corbaloc host xxxx Manager where host is the name of the host where the component is located for example host oan es and xxxx is the number of the port at which the Manager listens which if the ACS instance is 0 corresponds to port 3000 Next we get a reference to t f the TempFile component by calling get Component on sc the simple client and the same for the temperature property t emp by calling get temperature on tf the component To obtain the current value of the property we may issue a get_sync on temp the property The loop with the sleep 1 is just for aesthetic purposes and to show how the value changes after 1 second 7 DEVELOPING A SIMPLE EXAMPLE 24 7 7 Compiling an2. TempFile DevIOFile destroyed Method with retrieves the temperature valu ACS ROdouble_ptr TempFile temperatur throw CORBA SystemException if m_temperature_p return ACS ROdouble _nil ACS ROdouble_var prop ACS ROdouble _narrow m_temperature_p gt getCORBAReferenc return prop _retn MACI DLL support functions x include lt maciACSComponentDefines h gt MACI_DLL_SUPPORT_FUNCTIONS TempFile as k The constructor inherits from CharacteristicComponentImp1 and sets the temper ature to 0 It creates the DevIOFile which in turn opens the file and creates the property by passing three arguments to ROdouble constructor the name of the server plus the name of the property the parent of the property the component itself and the DevIO to be used to retrieve the value for the property The destructor stops all threads destroys the temperature property sets its value to 0 and destroys the DevIOFile Finally the method which returns a pointer to the temperature property It obtains the CORBA reference of the property and casts the value to be a ROdouble by using _narrow 7 DEVELOPING A SIMPLE EXAMPLE 23 7 6 The client We may write a very simple client using Python that we may place in a file called client py in directory test usr bin env python from acspy clients simpleClient import PySimpleClient import acsexmplTempFile_idl
3. pragma prefix alma module TF interface TempFile ACS CharacteristicComponent Property Temperature ff readonly attribute ACS ROdouble temperature As previously mentioned the IDL compiler will produce templates for the server and client also known as skeleton and stub in the three ACS supported languages e config This directory holds another directory CDB which hosts a subdirectory named schemas where the XML schema of the component is defined The schema describes the composition of the component and it is used for XML instances validation purpouses In our case the directory structure is CDB schemas TempFile xsd The TempFile xsd looks like this lt xml version 1 0 encoding UTF 8 gt else Example Configuration Database Schema for a thermometer Author Ruben Bolano 7 DEVELOPING A SIMPLE EXAMPLE 13 History gt 2003 12 11 Ruben Bolano Created lt xs schema targetNamespace urn schemas cosylab com TempFile 1 0 xm xm xm Lns xs http www w3 o0org 2001 XMLSchema Lns urn schemas cosylab com TempFile 1 0 lns cdb urn schemas cosylab com CDB 1 0 xm Ins baci urn schemas cosylab com BACI 1 0 elementFormDefault qualified attributeFormDefault unqualified gt lt xS import namespace urn schemas cosylab com CDB 1 0 schemaLocation CDB xsd gt lt xS import namespace urn schemas c
4. static data that provide additional information Characteristics may be associated to components or they may be associated to the properties of the components For example some characteristics of the temperature property of the cryogenic thermometer would be the maximum and minimum allowed values the units and a descriptive text The Component properties are specified in the IDL files and the characteristics in XML schema files The IDL allows to define the interface to the object During compilation the IDL compiler will produce templates in C Java and Python both for the server and the client that the user may use to create the code needed to control and monitor the object Containers are not developed by the user they are provided by the ACS infrastructure and therefore we do not need to implement them In these way the services they provide are hidden to the user and to the developer The developer just needs to specify which container holds which components and it may also configure some options for the container 7 1 Customizing the manager The CDB location In the previous section where we described the first usage of the ACS the manager used the ACS database with its three containers one per supported language and all components pro vided by the ACS framework However in a practical case we need that the manager reads our own database CDB so that our containers and our components are available to interact with them This is
5. test directory If we want a definitive location we should use a devoted directory to place our components and containers so that all of them are found by the manager 7 3 Code directories Directories src and include will contain the Makefile and the code the developer has to implement The client can be placed in directory test 7 DEVELOPING A SIMPLE EXAMPLE 16 7 4 The Makefile The Makefile is in subdirectory src and it is necessary to do the compilation and linking This Makefile is very customized to follow ESO standards for the VLT and it requires that package pdksh is installed in the system Each entry is briefly commented however sometimes this comment is not enough to understand how to fill in the entry The Makefile includes a call to another Makefile located in ACSROOT There is no ACS documentation which explains how to manage and modify the Makefile The Makefile will call the IDL compiler so that it generates the stub and the skeleton for C java and Python from the IDL file The stub is the template for a client while the skeleton is the template for the server We have to create a child class which will inherit from the one generated by the IDL compiler Since we know in advance how this class will be called we may write the implementation code before using the IDL compiler Then the Makefile will do all at a time and there is no need to execute it twice It will first produce the templates and later will compile our implem
6. the file virtual DevIOFile fclose fp ACS_SHORT_LOG LM_DEBUG File closed d fp 7 DEVELOPING A SIMPLE EXAMPLE 20 virtual bool initalizeValue return true Reimplementation of method read T read int amp errcode unsigned long long amp timestamp virtual The file contains 4 columns with modified julian day temperature from stage 1 modified julian day temp stage 2 fscanf fp Slf S1f S1f S1f amp mjdnowl amp lectural amp mjdnow2 amp lecturaz2 ACS_SHORT_LOG LM_DEBUG Retrieved record bf sf f Sf mjdnowl lectural mjdnow2 lectura2 errcode 0 timestamp getTimeStamp m_value lectural return m_value Reimplementation of method write virtual void write const T amp value int amp errcode unsigned long long amp timestamp ACS_SHORT_LOG LM_DEBUG Cannot write errcode 0 timestamp getTimeStamp m_value value private T m_value FILE fp double mjdnowl lectural mjdnow2 lectura2 U ndif The DEVIO contains a constructor that opens the file a destructor that closes the file and two methods which reimplement the read and write methods from the DevIO template The read procedure returns the temperature value as read from the file stores the value in a private member variable and obtains a timestamp for that value while the write value would change the private membe
7. 0 xmins urn schemas cosylab com Container 1 0 xmins baci urn schemas cosylab com BACI 1 0 xmlns xsi http www w3 org 2001 XMLSchema instance 7 DEVELOPING A SIMPLE EXAMPLE 14 CommandLine Timeout 20000 UseIFR 1 ManagerRetry 10 ManagerReference CacheSize 10 MinCachePriority 0 MaxCachePriority 31 CentralizedLogger Log gt lt Autoload gt lt cdb _ string baci gt lt Autoload gt lt Container gt and of our manager oanContainer xml lt xml version 1 0 encoding utf 8 gt lt Manager xmlns cdb urn schemas cosylab com CDB 1 0 xmilns urn schemas cosylab com Manager 1 0 xmins baci urn schemas cosylab com BACI 1 0 xmlns xsi http www w3 org 2001 XMLSchema instance CommandLine Timeout 50000 Heartbeat Timeout 2000 CacheSize 10 MinCachePriority 0 MaxCachePriority 31 CentralizedLogger Log gt lt Startup gt lt Startup gt lt Execute gt lt cdb _ string gt lt cdb _ string gt lt Execute gt lt ServiceComponents gt lt cdb lt cdb lt cdb lt cdb lt cdb lt cdb lt edb lt cdb lt cdb string Log gt string LogFactory gt string NotifyEventChannelFactory gt string ArchivingChannel gt string LoggingChannel gt string InterfaceRepository gt string CDB gt string ACSLogSvc gt string PDB gt lt ServiceComponents gt lt Ma
8. DB h gt include lt acsexmplTempFileImpl h gt ACE_RCSID acsexmpl acsexmplTempFileImpl Id acsexmplTempFileImpl cpp v 1 1 2004 NAMESPACE_USE baci Constructor It inherits from CharacteristicComponentImpl and sets m_temperature_ TempFile TempFile PortableServer POA_ptr poa const ACE_CString amp name CharacteristicComponentImpl poa name m_temperature_p 0 ACS_TRACE TempFile TempFile Create the Properties TA the property s name must be composed of the server s name and the ff property name m new DevlOFile lt double gt data temp log m_temperature_p new ROdouble namet temperature getComponent m if this property wasn t created properly we destroy it and all of this COB s previous properties CHARACTERISTIC_COMPONENT_PROPERTY temperature m_temperature_p Destructor TempFile TempFile ACS_TRACE TempFile TempFile ang getComponent 7 DEVELOPING A SIMPLE EXAMPLE 22 ACS_DEBUG_PARAM TempFile TempFile Destroying s getComponent gt getName stop threads getComponent gt stopAllThreads properties if m_temperature_p BA temperature_p gt destroy temperature_p 0 3 ACS_DEBUG TempFile TempFile Properties destroyed delete m ACS_DEBUG TempFile
9. First impressions using ACS Installing and using ACS from scratch P de Vicente R Bola o Informe T cnico IT OAN 2004 1 CONTENTS 1 Contents 1 Introduction 2 2 Installation on a Debian 3 0 distribution 2 3 Installation on a Debian 3 1 distribution 4 4 Using the ACS for the first time 6 4 1 Trying the ACS in the line command ina single host 6 4 2 Trying the ACS in different hosts from the command line 7 4 3 Trying the ACS from the ACS Command Center 8 5 Setting up a local account for development 9 6 Adding new libraries which use GNU tools by ACS 10 7 Developing a simple example 10 7 1 Customizing the manager The CDB location 11 7 2 The directory structure 4 2 5 44 544 ne tease Sie eee Se ees 11 7 2 1 Customizing the manager The CDB location 12 To Ole Cire ClONS e s es we Sc A We Sue Su te SOR We So BOE eR BS SES LS i 16 TA The Makefile nsina tee oie Sta BL et Ba a a E 16 TSI MG Ser Vel oae seei e te ceca sale tench else ise TO a Be le Ba IOS 17 Os DROG GOE iani Save ea es Pee ge Pe ee ee eae Gen ss Bee Gare amp 23 7 7 Compiling and testing the code ooa 24 1 INTRODUCTION 2 1 Introduction ACS is the acronym for Alma Common Software The ALMA Common Software ACS pro vides a software infrastructure common to all partners and consists of a documented collection of common patterns in control systems and of components which implement th
10. In order to use client applications which use libraries from the system it is necessary to link the applications to the libraries This is a problem if using Debian 3 0 since libraries like Qt or MySQL are linked against g 2 95 while ACS 3 0 uses compiler g 3 2 The code compiled and linked against g 2 95 and g 3 2 is binary incompatible There are three ways to solve this problem e use java only applications e install the ACS using the native g compiler provided by the OS e recompile and install all applications and libraries needed by the system using the com piler g 3 2 provided by ACS Since we do not want to renounce to Qt and MySQL and we do not want to reinstall all software we installed Debian 3 1 testing version which at the time of this report provides g 3 3 2 The installation of ACS 3 0 1 on Debian 3 1 is performed basically the same way as for Debian 3 0 However it requires some minor changes because we use the g 3 3 2 4 compiler and Tcl Tk tools provided by Debian 1 Install the following packages tcl8 3 tcl8 4 tcl8 4 dev tk8 3 tcl8 4 tk8 4 dev tkman iwidgets4 itk3 itcl3 itcl3 dev blt blt common tcl8 3x tkx8 3 expect groff pgplots It may be possible that not all packages are needed but in order to have exactly the same packages ACS supplies all of them should be installed 2 Make a link for gtar in the system since ACS uses gtar In s usr bin gtar bin tar 3 Create an account alm
11. ME 7 4 2 objexp The object explorer shows a tree view with all available components and properties for each component on the left side of the window On the right side all available methods for the Power Supply will be shown together with the attributes By invoking the methods it is possible to get and set property values and view its characteristics It is also possible to monitor the instance of the created power supply and plot for example the trend of the current Kadunc Tka ic amp ekoranja 2003 describe thorougly the Object Explorer To close all ACS processes enter the following command killACS Trying the ACS in different hosts from the command line A second convenient test is to start a client that talks to the activated component on a different host In this way we can check that the communication is working through the network one of the fundamental aims of the ACS It should be stressed that the ACS works on an Ethernet LAN and is not restricted to a CAN Bus as planned in ALMA for real time operations The central access point to the ACS is the manager which keeps information on the status of the different parts of the system that is containers and their components In order that the containers and the clients know where the manager is running and communicate with it it is necessary to pass them the location and port of the manager One way to achieve this is by modifying the environment variable MANAGER_REFERE
12. NCE For example let us imagine the following situation 1 S 3 4 ACS manager runs on host A There is a container running on host B There is a client running on host C that shows the state of a component in host B that is activated by the container in host B There is a second client in host D which changes the status of the component It is not necessary to run the services and the manager in hosts B C and D but it is necessary to have all the ACS software installed on the four hosts A way to check that the ACS works among different hosts using the command line is described below 1 We start the services and the manager in host A The manager needs access to the CDB It is possible to have the CDB in a different computer but we will assume for simplicity that it is in the same host acsStart 4 USING THE ACS FOR THE FIRST TIME 8 2 We start the container in host B It is necessary to indicate the address and port where the manager is running This may be done either by changing an environment variable or passing an option when starting the container export MANAGER_REFERENCE corbaloc polifemo cay oan es 3000 Manager acsStartContainer cpp bilboContainer 3 We start a client in host C As in the previous case we need to tell it where the manager lives If the client is written appropiately it should find the location of the manager either by using the environment variable MANAGER_ REFERENCE o
13. amgr 4 Create directory downloads in almamgr cd HOME mkdir downloads 5 Download the following files and place them in HOME downloads almatools src tar gz acssw tar gz The tools file may be pulled out from http www eso org gchiozzi AlmaAcs Releases ACS_3_0 index html and the ACS software from http www eso org gchiozzi AlmaAcs Releases ACS_3_0 ACS_3_0 LGPL ACS_3_0_Lin1 6 Create target directory 3 INSTALLATION ON A DEBIAN 3 1 DISTRIBUTION 5 mkdir alma ACS 3 0 This directory should belong to almamgr almamgr 7 Before building the libraries and executables it is very important to set the environment variables These variables are available in SHOME acs bash_profile acs This file was obtained from ACS_2_1_Linux CD LGPL tar gz and was patched to accomo date to our needs The environment file is attached in appendix 1 It is also advisable to include the following instruction in the bashrc almamer file so that it gets executed every time we log in the almamegr account source S HOME acs bash_profile acs 8 Untar the sources in the almamgr account tar xzf downloads almatools src tar gz A directory named Acs will be created In order to compile properly the following files should be modified according to the instructions shown in appendix 2 ACS ExtProd INSTALL buildAnt ACS ExtProd INSTALL buildjava ACS ExtProd INSTALL buildOmniORB 9 The build script
14. ate structure In order to have a visible INTROOT we have to modify the environment variable in alma ACS 3 0 ACSSW config acs bash_profile 6 Adding new libraries which use GNU tools by ACS It may be possible that the user wants to use libraries not provided by ACS and link the clients with these libraries That would be the case if we want to use the Qt graphical toolkit with C or Python This is also the case when trying to use MySQL To overcome the problem we used Python from ACS and manually installed python qt3 generating the libraries and binaries compiling from the source One should be careful since the final installation can be done on the ACS directory and this may clutter the ACS_ROOT directory The best option is to define a OANROOT directory using the ACS environment For example like this OANROOT oan 1 0 OANLOCAL SOANROOT local QTDIR usr share qt3 PYTHONPATH SOANLOCAL Python lib python2 3 site packages PATH SQTDIR bin OANLOCAL bin PATH LD_LIBRARY_PATH SQTDIR 1ib LD_LIBRARY PATH The target directory should be OANLOCAL 7 Developing a simple example This issue is fully covered for C Java and Python in three documents found in the ACS documentation pages e Document C Component Container Framework Tutorial describes how to create a container and a component using C e Document Java Component Container Framework Tutorial describes how to create a container and a compone
15. d testing the code Let us assume that all our code is under directory home acs acsexamplTempFile To compile and run the code one should proceed as follows export INTROOT SHOME acsexamplTempFile source alma ACS 3 0 ACSSW config acs bash _profile acs Then we compile cd acsexamplTempFile src make We will get some messages which indicate that the stubs and skeletons are being created for C Java and Python and finally that the objects are created from the implementation files that we have written almamgr polifemo acsexmplTempFile src make Dependencies object acsexmplTempFile didl IDL Compiling for TAO C acsexmplTempFile idl preprocessing acsexmplTempFile idl IDL Compiling for JacORB Java acsexmplTempFile idl IDL Compiling for OmniOrb Python acsexmplTempFile idl alma ACS 3 0 ACSSW idl acserr idl 137 Warning Anonymous sequences for recursive omniidl 1 warning IDL Compiling Stubs into libraries executable C acsexmplTempFile idl alma ACS 3 0 ACSSW include acsMakefile al1 374 object acsexmplTempFileImpl d alma ACS 3 0 ACSSW include acsMakefile al1 391 object acsexmplTempFileImp1 d Dependencies object acsexmplTempFileImpl da Dependencies object acsexmplTempFileImpl d C Compili
16. e performed on two ways either using the binary executables and already compiled libraries or compiling the code Both approaches are faulty with ACS 2 1 and Debian 3 0 ACS needs the compiler provided by Red Hat 7 2 g 2 96 while Debian 3 0 uses g 2 95 Both g versions are binary incompatible and therefore compilation is unsuccessfull Debian 3 0 uses g 2 95 because according to GNU the g 2 96 version is a development version which preceded the stable gcc 3 x versions Hence it is not advisable to use it Since the release of ACS 3 0 it is also possible to download the tools to generate the ACS binaries Below we describe a step by step procedure to generate ACS 3 0 on a Debian 3 0 distribution 1 Create an account almamgr 2 Create directory downloads in almamgr cd HOME mkdir downloads 3 Download the following files and place them in HOME downloads INSTALLATION ON A DEBIAN 3 0 DISTRIBUTION 3 4 10 almatools src tar gz acssw tar gz The tools file may be pulled out from http www eso org gchiozzi AlmaAcs Releases ACS_3_0 index htm1 and the ACS software from http www eso org chiozzi AlmaAcs Releases ACS_3_0 ACS_3_ Create target directory mkdir alma ACS 3 0 This directory should belong to almamgr almamgr Before building the libraries and executables it is very important to set the environment variables These variables are available in SHOME acs bash_profile acs This fi
17. entation using the generated templates The relevant part of the Makefile looks like this Includes h files public only INCLUDES acsexmplTempFileImpl h DevIOFile h Libraries public and local LIBRARIES acsexmplTempFilelImp1 LIBRAR TES lL lt brief description of 11111 library gt acsexmp1lTempFileImpl_OBJECTS acsexmplTempFileImpl acsexmp1lTempFileImp1l_LIBS acsexmplTempFileStubs As can be seen we only fill the following fields e INCLUDES With all h files that we need e LIBRARIES An implementation library of the component will be created e Two fields for the objects and libraries with the name of the component implementation followed by Imp1_OBJECTS and Imp1_LIBS acsexmplTempFileImp1 h is the file that contains the implementation 7 DEVELOPING A SIMPLE EXAMPLE 17 7 5 The server The component has to be declared in a header file and has to be implemented in a cpp file The former should be in directory include and the latter in directory src From the point of view of a newcomer both the h and cpp files have pieces of code which are difficult to understand at a first glance and which are repeated for different projects This fact has been exploited by the HPT and Apex groups to create a code generator which produces these common parts and leaves the customization to the developer We are not going to comment
18. gt m m_temperature_p is a pointer the current temperature for stage 1 m stands for member and _p for pointer ROdouble m_temperature_p 7 DEVELOPING A SIMPLE EXAMPLE 19 L endif In the include directory we also need to define a DevIO which allows to read values from a file The DevIOFile is a class specially designed to read and write from different devices In our case the device is a file BOK KKK KK A kk kkk k kkk k k kk k k k kkk k k kk k A I I OK k k I OK k k k ARIES21 Antena RadioInterferomtrica Espaola para el siglo XXI c Observatorio Astronmico Nacional 2003 This code is under GNU General Public Licence GPL Correspondence concerning ALMA Software should be addressed to alma sw admin nrao edu who when what r bolano 11 12 2003 Created p devicent 23 3 2004 Cleanup ifndef _ cplusplus rror This is a C include file and cannot be used from plain C ndif include lt baciDevI0O h gt include lt unistd h gt include lt stdio h gt include lt stdlib h gt include lt string h gt NAMESPACE_USE baci template lt class T gt class DevIOFile public DevIO lt T gt public Constructor It opens the file DevIOFile const char fr fp fopen fr r ACS_SHORT_LOG LM_DEBUG File opened d fp Destructor It closes
19. i G 2003 Alma Common Software Installation Manual Chiozzi amp Sekoranja 2003 Chiozzi G amp Sekoranja M 2003 ACS Overview Fugate 2003 Fugate D 2003 Python Component Container Framework Tutorial Kadunc Tkacic amp Sekoranja 2003 Kadunc Tka ic amp Sekoranja 2003 Object Explorer User s Manual Milcinski et al 2003 Milcinski G Sekoranja M Lopez B amp Fugate D 2003 C Com ponent Container Framework Tutorial Vitas amp Zagar 2003 Vitas D Zagar K 2003 Configuration Database User s Manual
20. le was obtained from ACS_2_1_Linux CD LGPL tar gz and was patched according to our needs The environment file is attached in appendix 1 It is also advisable to include the following instruction in the bashrc almamer file so that it gets executed every time we log in the almamgr account source S HOME acs bash_profile acs Untar the sources in the almamgr account tar xzf downloads almatools src tar gz A directory named ACS will be created un der HOME In order to get a successful com pilation the following files should be modified according to the instructions shown in appendix 2 ACS ExtProd INSTALL buildAnt ACS ExtProd INSTALL buildjava ACS ExtProd INSTALL buildTcltk ACS ExtProd INSTALL buildOmniORB The build scripts are not executable so we need to modify the mode of the build scripts cd ACS ExtProd INSTALL chmod 755 build Now we will build the tools buildTools The procedure will log all information in files called bui1dXxxx log All software will be installed under alma ACS 3 0 in different directories Once this step is completed the environment will be active since the PATH will point to an existing directory and the GNU tools to be used are those provided by ACS Untar and build the ACS software cd HOME tar xzf downloads acssw tar gz cd ACS make build 3 INSTALLATION ON A DEBIAN 3 1 DISTRIBUTION 4 3 Installation on a Debian 3 1 distribution
21. nager gt and one XML file per instance of the component that sets the values of the desired char acteristics like a description limits alarm values graphic limits formats units If the values are not set explicitly the defaults are taken into account TEST_LS_1 xml1 7 DEVELOPING A SIMPLE EXAMPLE 15 lt xml version 1 0 encoding UTF 8 gt hes Example Configuration Database Entry for a Thermometer Author Ruben Bolano History 2003 12 11 RB Created gt lt TempFile xmlns urn schemas cosylab com TempFile 1 0 xmins baci urn schemas cosylab com BACI 1 0 xmins cdb urn schemas cosylab com CDB 1 0 xmlns xsi http www w3 org 2001 XMLSchema instance gt lt temperature description temperature units K graph_min 0 graph_max 400 alarm_low_on 10 0 alarm_low_off 15 0 alarm_high_on 30 0 alarm_high_off 25 0 gt lt TempFile gt The XML instance files are trusted against the corresponding schema file Here we show a typical directory structure Yom CDR MACI Components Y Components xml Containers Y oanContainer Y oanContainer xml Managers Manager Manager xml alma gt TESTES 1 Ta TEST WS xm This directory may be associated to the environment variable ACS_CDB so that the man ager extracts the database information from that location This association is temporal because we placed it in the
22. nd services The messages produced are shown in area 3 where there is tab per session opened In area 2 we can start up the containers even in remote hosts In the latter case we should click on the button whose label has three dots A window will popup where it is possible provide the IP number or number of the host the instance normally should be 0 and account name and password where we want the container to run at The ACS Command Center will launch a ssh session and startup the container 5 SETTING UP A LOCAL ACCOUNT FOR DEVELOPMENT 9 IO Fles Goninon h Conis Acs Command Center Controls Acs suite Sa mi stop mkn advanced Services E m Manager gt m allure in Acceptor Registry low 7 bits of errno 99 Cant Figure 1 Snapshot of the ACS command center The log shows a failure trying to start up the services and manager on a host without any Internet connection 5 Setting up a local account for development It is advisable to create a separate account to work on the development of local code which uses ACS This is described in document Alma Common Software Installation Manual sections 7 and 8 The almamgr should be kept apart from the development area to avoid cluttering the installation area We should create an account for example by issuing adduser acs The user has to be added to group almamg
23. ng acsexmplTempFileImpl cpp Making library lib libacsexmplTempFileImpl a Making library lib libacsexmplTempFileImpl so all done The compilation procedure will produce several libraries placed in directory lib which are necessary for implementing the server and the client and it will produce objects from the compilation of the implementation files in directory obj To test it we need to set up the ACS_CDB environment variable so that ACS finds our con tainer and its component cd acsexamplTempFile test export ACS _CDB SPWD acsStart acsStartContainer cpp oanContainer From the same host in a different terminal window we will run the client REFERENCES 25 cd acsexamplTempFile test client py The client should run for approximately 100 seconds and should print on the screen the different temperature values If we run the client on a different host we will need the imported modules The easiest way to achieve this is to copy the whole compiled acsexamplTempF ile directory content on that host and to install it Then we can run it typing cd acsexamplTempFile test export MANAGER_REFERENCE corbaloc host 3000 Manager client py We may also use the Object explorer to retrieve the temperature values and to display a graphics with the trend along time as described by Kadunc Tkacic amp Sekoranja 2003 References Chiozzi amp Sivera 2003 Chiozzi G Sivera P amp Filipp
24. nt using Java e Document Python Component Container Framework Tutorial describes how to create a container and a component using Python However in this section we will provide our point of view and for that we will repeat part of what is explained in the mentioned reports A simple example for a new user could be to develop a component in C which simu lates a cryogenic thermometer and a client written in Python to retrieve its values The device 7 DEVELOPING A SIMPLE EXAMPLE 11 producing temperature values will be emulated by a file with four columns a time stamp a temperature value for stage 1 a second timestamp and a temperature value for stage 2 The client which may be run in a different host will show the temperature values stored in the file as time passes by ACS uses the component container paradigm to model the devices in a distributed environ ment A component is associated to a physical device for example a cryogenic thermometer which we may want to read and or command through the serial port using a client Compo nents are started and managed by containers hiding the services the latter provide to users One container may hold more than one component Components are fully described by their properties because they define their state The properties of a cryogenic thermometer could be for example the temperature and its status whether it is on or off Components also have characteristics which represent
25. ose patterns The heart of ACS is an object model of controlled devices called Distributed Objects DOs implemented as CORBA network objects The ACS will be used in the ALMA project a 64 antenna millimeter and submillimeter interferometer placed in the Atacama desert in Chile Although ACS is oriented towards ALMA it may be used in other projects where there are real time control systems and distributed network components We at the Observatorio Astronmico Nacional have tested the ACS to verify if it may be used in the control system of the 40m radiotelescope of the OAN This report describes our experience installing ACS on a Debian distribution and using it for the first time Although there is plenty of information and documentation in the ACS pages http www eso org gchiozzi AlmaAcs we try to offer here the point of view of a new comer with no previous knowledge on the technologies used by ACS 2 Installation on a Debian 3 0 distribution Debian is the default Linux distribution used in the Observatorio Astronmico Nacional We want to keep only one distribution in the observatory to minimize software management com plexity At the time of writing this report the current stable Debian version is 3 0 ACS is provided for RedHat 7 2 and the installation of ACS on a Debian distribution has never been performed before This section describes how to successfully complete such an installation on a Debian 3 0 host ACS installation can b
26. osylab com BACI 1 0 schemaLocation BACI xsd gt lt xs complexType name TempFile gt lt xs sequence gt lt xs element name temperature type baci ROdouble gt lt xs sequence gt lt xs complexType gt lt xs element name TempFile type TempFile gt lt xs schema gt A simple glance shows the reader that there are no special characteristics defined here however this file has import statements which include characteristics which are com mon to statetme Manual some ACS defined types like ROdoubles Therefore by using the import nts this file expands as explained in document Configuration Database User s 3 e test This directory is for test purposes In this directory we may place a CDB directory which holds information on the container that activates the component and the compo nents Components xml lt xml version 1 0 encoding utf 8 gt lt Components xmlins urn schemas cosylab com Components 1 0 xmins cdb urn schemas cosylab com CDB 1 0 xmins baci urn schemas cosylab com BACI 1 0 xmlns xsi http www w3 org 2001 XMLSchema instance gt lt _ Name TEST_TF_1 Code acsexmplTempFileImp1 Type IDL alma TF TempFile 1 0 Container oanContainer gt lt Components gt the configuration of our container oanContainer xml lt xml version 1 0 encoding UTF 8 gt lt Container xmlns cdb urn schemas cosylab com CDB 1
27. r so that the development user may use all the software residing in directory alma It may be possible that some files from alma do not have read or execution permission for the almamgr group That depends on the used umask in the host If the umask is not properly set it may happen that it is necessary to change the permision of some files like for example chmod ougtr alma ACS 3 0 TAO ACE_wrappers build linux ace config h One should then configure the environment by placing in file HOME bashrc an instruc tion like this one source alma ACS 3 0 ACSSW config acs bash_profile which provides the ACS environment In the previous example ACSROOT alma ACS 3 0 ACSSW Finally we need a directory to place all the code that will be written locally This directory is known as INTROOT This is explained in section 7 of the Alma Common Software Installation Manual document and should be acomplished by running getTemplate This script allows to create a template for a directory structure or for code Let us go to the parent directory where the INTROOT directory will be and issue getTemplate 6 ADDING NEW LIBRARIES WHICH USE GNU TOOLS BY ACS 10 Since we need a directory we will choose the first option We should then choose option createINTROOTarea to create an INTROOT directory where we will place our code The procedure will prompt us for the name of the directory and after supplying it it will create a templ
28. r and obtain a timestamp but since the temperature is a RODouble it will never be called The src directory contains the implementation of the component OK RRR KK KK I KKK k k k kkk k k kk k k k kk k k k k k k k kk k k k kk I k k k k k KI k k ARIES21 Antena RadioInterferomtrica Espaola para el siglo XXI c Observatorio Astronmico Nacional 2003 Copyright by OAN 2003 All rights reserved This library is free software you can redistribute it and or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation either version 2 1 of the License or at your option any later version ETa F F F F DEVELOPING A SIMPLE EXAMPLE 21 a This library is distributed in the hope that it will be useful k but WITHOUT ANY WARRANTY without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE See the GNU x Lesser General Public License for more details K You should have received a copy of the GNU Lesser General Public k License along with this library if not write to the Free Software Foundation Inc 59 Temple Place Suite 330 Boston MA 02111 1307 USA L Id acsexmplTempFileImpl cpp v 1 1 2004 03 23 11 01 28 vicente Exp L who when what r bolano 11 12 2003 Created p devicente 23 3 2004 Cleanup include lt vltPort h gt include lt baci
29. r by passing an option when launching the client This depends critically on the way the client is designed and written export MANAGER_REFERENCE corbaloc polifemo cay oan es 3000 Manager acsStartJava alma acsabeans examples PSPanel PSPanel The power supply client lets you play with an instance of the power supply component when we choose one of this in the dropdown list This component is activated by bilbo Container and if the latter were not started it would not possible to create it 4 If we want to check visually that the power supply client in host C changes we may start an object explorer in host D and change the value of the current by using method set_sync and introducing a new value export MANAGER_REFERENCE corbaloc polifemo cay oan es 3000 Manager objexp When the value is changed via the object explorer in host D by calling set_sync the current changes in the component and this is reflected in the client running in host C demonstrating that ACS works on a distributed environment 4 3 Trying the ACS from the ACS Command Center It is also possible to start the services manager and containers from the ACS command center at the same host or in different hosts Section 2 1 of the Alma Common Software Overview document describes how to use this application Figure 1 shows a normal view of the command center In the area tagged as 1 we can start the manager a
30. s are not executable so we need to modify the mode of the build scripts cd ACS ExtProd INSTALL chmod 755 build 10 Instead of running buildTools run buildJava buildTAO buildAnt buildJacORB buildPython buildOmniORB 11 The procedure will log all information in files called buildxxxX 1log All software will be installed under alma ACS 3 0 in different directories Once this step is completed the environment will be active since the PATH will point to an existing directory and the GNU tools to be used are those provided by ACS 12 Untar and build the ACS software cd HOME tar xzf downloads acssw tar gz cd ACS make build In principle it should be possible to use Python and OmniORB from the OS and load the Python packages produced by ACS However we have encountered several problems concerning Python PATHs which we have not solved by the time this report was written 4 USING THE ACS FOR THE FIRST TIME 6 4 Using the ACS for the first time Once ACS 3 0 1 is installed in our host we are ready to play around with it and acquire some experience on how it works The first step should be to try the ACS locally on one computer These operations are described in section 6 of the document Alma Common Software In stallation Manual It is advisable to open an xterm or better several terminals on a Konsole application KDE environment per command listed below so that we can easily read the log me
31. ser General Public License along with this library if not write to the Free Software Foundation Inc 59 Temple Place Suite 330 Boston MA 02111 1307 who when what r bolano 11 12 2003 Created p devicente 23 03 2004 Cleanup o F FF F FF F F T wE F F o F FF F F F F F KOK KKK KK KK k kkk k k A k k k k I KKK I I k k k I k L XL ifndef _ cplusplus error This is a C include file and cannot be used from plain C endif USA 7 DEVELOPING A SIMPLE EXAMPLE 18 include lt baciCharacteristicComponentImpl h gt include lt acsexmplExport h gt include lt acsexmplTempFileS h gt include lt baciROdouble h gt include lt DevIOFile h gt NAMESPACE_USE baci class acsexmpl_EXPORT TempFile public CharacteristicComponentImpl public virtual POA_TF TempFile public Constructor param poa poa which will activate this and also all other COBs param name DO name ay TempFile PortableServer POA_ptr poa const ACE_CString amp name Destructor virtual TempFile Method which returns a reference to the temperature property Implementation of IDL interface for the property htmlonly lt br gt lt hr gt endhtmlonly af virtual ACS ROdouble_ptr temperature throw CORBA SystemException private reference to the DevIOFile DevIOFile lt double
32. ssages from all applications 4 1 Trying the ACS in the line command in a single host e First to start up the services and the manager one should enter acsStart This instruction will produce many messages that inform how the services the interface repository the database and the manager are started up These messages are important for debugging purposes The shell from which this command is launched will be freed upon completion e Next we start up one container ACS 3 0 provides three containers as examples one per programming language acsStartContainer cpp bilboContainer The option which comes after acsStartContainer indicates the kind of language used to code the container We could also start other containers with the following instructions acsStartContainer java frodoContainer acsStartContainer py aragornContainer but this is not necessary for test purposes on a first trial e We may also launch a client for a power supply acsStartJava alma acsabeans examples PSPanel PSPanel e Once the power supply client has started up we can choose an instance of the Power sup ply client by selecting one item from its dropdown list whose first element says none For example one can choose TEST_PS_1 e Next we start up the Object explorer a Java generic client which will allow us to interact with the different components that live in the container we have started up 4 USING THE ACS FOR THE FIRST TI
33. these parts and will leave the explanation to the three ACS documents mentioned at the beginning of this section The header file contains the declaration for the component class which inherits from classes CharacteristicComponent Impl and POA_TF TempFile being the latter the one created by the IDL compiler The header file contains the declaration for the constructor the destructor a method to obtain the the property which returns a pointer to a RODouble and finally a private member which holds the pointer to the temperature property and to the DevIOFile ifndef acsexmpl1i define acsexmplTempFileImpl_h mpFileImpl_h BOK KR KR KK KKK k kkk kk kkk k kk KK k kk k k k k kk k k k kk A I k k k k k k kk k k OR k k k k k ARIES21 Antena RadioInterferomtrica Espaola para el siglo XXI c Observatorio Astronmico Nacional 2003 Copyright by OAN All rights reserved This library is free software you can redistribute it and or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation either version 2 1 of the License or at your option any later version This library is distributed in the hope that it will be useful but WITHOUT ANY WARRANTY without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE See the GNU Lesser General Public License for more details You should have received a copy of the GNU Les
34. usually achieved by modifying one of the environment variables ACS_CDB Chapter 5 of the ACS Overview document summarizes the most important environment vari ables and their meaning 7 2 The directory structure Our code will be located in the SINTROOT directory which we have created according to the instructions of section 5 The main directories we should pay attention to are idl config src include andtest 7 DEVELOPING A SIMPLE EXAMPLE 12 7 2 1 Customizing the manager The CDB location Chapter 5 of the ACS Overview document summarizes the most important environment variables and their meaning The directories involved on the configuration of the components and containers are e idl This directory holds the IDL of each component to be deployed The IDL should contain all properties and methods of the component There may be more than one com ponent in one IDL file It is advisable to write comments explaining the properties and methods since the documentation is extracted from these comments using doxygen The documentation should follow the format suggested by doxygen We may use different types for the properties Some of the types are standard some of them are derived types defined by ACS In our case the IDL will only contain one property temperature The temperature is a RODouble an ACS derived type defined in baci idl The acsexmplTempFile idl file looks like this include lt baci idl gt
Download Pdf Manuals
Related Search