Controller overview

Each different hardware object is directly controlled by a software object called controller. This object is responsible for mapping the communication between a set of hardware objects (example motors) and the underlying hardware (example: a motor controller crate). The controller object is also exposed as a Tango device.

Usually a controller is capable of handling several hardware objects. For example, a motor controller crate is capable of controlling several motors (generally called axis [1]).

The controller objects can be created/deleted/renamed dynamically in a running pool.

A specific type of controller needs to be created to handle each specific type of hardware. Therefore, to each type of hardware controller there must be associated a specific controller software component. You can write a specific controller software component (plug-in) that is able to communicate with the specific hardware. You can this way extend the initial pool capabilities to talk to all kinds of different hardware.

../../_images/sardana_server_np200.png — A diagram representing a sardana server with a controller class *NSC200Controller*, an instance of that controller *np200ctrl_1* “connected” to a real hardware and a single motor *npm_1*.

A sardana controller is responsible for it’s sardana element(s). Example: an Icepap hardware motor controller can control up to 128 individual motor axis. In the same way, the coresponding software motor controller IcepapController will own the individual motor axises.

../../_images/sardana_server_icepap.png — A diagram representing a sardana server with a controller class *IcepapController*, an instance of that controller *icectrl_1* “connected” to a real hardware and motors *icem_[1..5]*.

These are the different types of controllers recognized by sardana:

MotorController

You should use/write a MotorController sardana plug-in if the the device you want to control has a moveable interface. The MotorController actually fullfils a changeable interface. This means that, for example, a power supply that has a current which you want to ramp could also be implemented as a MotorController.

Example: the Newport NSC200 motor controller

CounterTimerController

This controller type is designed to control a device capable of counting scalar values (and, optionaly have a timer).

Example: The National Instruments 6602 8-Channel Counter/Timer

ZeroDController

This controller type is designed to control a device capable of supplying scalar values. The API provides a way to obtain a value over a certain acquisition time through different algorithms (average, maximum, integration).

Example: an electrometer

OneDController

This controller type is designed to control a device capable of supplying 1D values. It has a very similar API to CounterTimerController

Example: an MCA

TwoDController

This controller type is designed to control a device capable of supplying 2D values. It has a very similar API to CounterTimerController

Example: a CCD

PseudoMotorController

A controller designed to export virtual motors that represent a new view over the actual physical motors.

Example: A slit pseudo motor controller provides gap and offset virtual motors over the physical blades

PseudoCounterController

A controller designed to export virtual counters that represent a new view over the actual physical counters/0Ds.

IORegisterController

A controller designed to control hardware registers.

Controller plug-ins can be written in Python (and in the future in C++). Each controller code is basically a Python class that needs to obey a specific API.

Here is an a extract of the pertinent part of a Python motor controller code that is able to talk to a Newport motor controller:

from sardana.pool.controller import MotorController, \
    Type, Description, DefaultValue

class NSC200Controller(MotorController):
    """This class is the Tango Sardana motor controller for the Newport NewStep
    handheld motion controller NSC200.
    This controller communicates through a Device Pool serial communication
    channel."""

    ctrl_properties = \
        { 'SerialCh' : { Type : str,
                         Description : 'Communication channel name for the serial line' },
          'SwitchBox': { Type : bool,
                         Description : 'Using SwitchBox',
                         DefaultValue : False},
          'ControllerNumber' : { Type : int,
                                 Description : 'Controller number',
                                 DefaultValue : 1 } }

    def __init__(self, inst, props, *args, **kwargs):
        MotorController.__init__(self, inst, props, *args, **kwargs)

        self.serial = None
        self.serial_state_event_id = -1

        if self.SwitchBox:
            self.MaxDevice = 8

    def AddDevice(self, axis):
        if axis > 1 and not self.SwitchBox:
            raise Exception("Without using a Switchbox only axis 1 is allowed")

        if self.SwitchBox:
            self._setCommand("MX", axis)

    def DeleteDevice(self, axis):
        pass

    _STATE_MAP = { NSC200.MOTOR_OFF : State.Off, NSC200.MOTOR_ON : State.On,
                   NSC200.MOTOR_MOVING : State.Moving }

    def StateOne(self, axis):
        if self.SwitchBox:
            self._setCommand("MX", axis)

        status = int(self._queryCommand("TS"))
        status = self._STATE_MAP.get(status, State.Unknown)
        register = int(self._queryCommand("PH"))
        lower = int(NSC200.getLimitNegative(register))
        upper = int(NSC200.getLimitPositive(register))

        switchstate = 0
        if lower == 1 and upper == 1: switchstate = 6
        elif lower == 1: switchstate = 4
        elif upper == 1: switchstate = 2
        return status, "OK", switchstate

    def ReadOne(self, axis):
        try:
            if self.SwitchBox:
                self._setCommand("MX", axis)
            return float(self._queryCommand("TP"))
        except:
            raise Exception("Error reading position, axis not available")

    def PreStartOne(self, axis, pos):
        return True

    def StartOne(self, axis, pos):
        if self.SwitchBox:
            self._setCommand("MX", axis)
        status = int(self._queryCommand("TS"))
        if status == NSC200.MOTOR_OFF:
            self._setCommand("MO","")
        self._setCommand("PA", pos)
        self._log.debug("[DONE] sending position")

    def StartAll(self):
        pass

    def AbortOne(self, axis):
        if self.SwitchBox:
            self._setCommand("MX", axis)
        self._setCommand("ST", "")