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|
:tocdepth: 3
.. highlight:: python
:linenothreshold: 4
======
ITango
======
ITango_ is a PyTango CLI based on IPython_. It is designed to be used as an
IPython profile.
It is available since PyTango 7.1.2 and has been moved to a separate
project since PyTango 9.2.0.
You can start ITango_ by typing on the command line:
.. sourcecode:: console
$ itango
or the equivalent:
.. sourcecode:: console
$ ipython --profile=tango
and you should get something like this:
.. image:: _images/itango00.png
:align: center
:width: 80%
.. _itango-features:
Features
--------
ITango_ works like a normal python console, but it gives you in addition a nice
set of features from IPython_ like:
- proper (bash-like) command completion
- automatic expansion of python variables, functions, types
- command history (with up/down arrow keys, %hist command)
- help system ( object? syntax, help(object))
- persistently store your favorite variables
- color modes
For a complete list checkout the `IPython web page <http://ipython.org/>`_.
Plus an additional set of Tango_ specific features:
- automatic import of Tango objects to the console namespace (`tango`
module, :class:`~tango.DeviceProxy` (=Device),
:class:`~tango.Database`, :class:`~tango.Group`
and :class:`~tango.AttributeProxy` (=Attribute))
- device name completion
- attribute name completion
- automatic tango object member completion
- list tango devices, classes, servers
- customized tango error message
- tango error introspection
- switch database
- refresh database
- list tango devices, classes
- store favorite tango objects
- store favorite tango devices
- tango color modes
Check the :ref:`itango-highlights` to see how to put these feature to good use
:-)
.. currentmodule:: tango
.. _itango-highlights:
Highlights
----------
Tab completion
~~~~~~~~~~~~~~
ITango_ exports many tango specific objects to the console namespace.
These include:
- the tango module itself
.. sourcecode:: itango
ITango [1]: tango
Result [1]: <module 'tango' from ...>
- The :class:`DeviceProxy` (=Device), :class:`AttributeProxy` (=Attribute),
:class:`Database` and :class:`Group` classes
.. sourcecode:: itango
ITango [1]: De<tab>
DeprecationWarning Device DeviceProxy
ITango [2]: Device
Result [2]: <class 'tango._tango.DeviceProxy'>
ITango [3]: Device("sys/tg_test/1")
Result [3]: DeviceProxy(sys/tg_test/1)
ITango [4]: Datab<tab>
ITango [4]: Database
ITango [4]: Att<tab>
Attribute AttributeError AttributeProxy
- The Tango :class:`Database` object to which the itango session is
currently connected
.. sourcecode:: itango
ITango [1]: db
Result [1]: Database(homer, 10000)
Device name completion
~~~~~~~~~~~~~~~~~~~~~~
ITango_ knows the complete list of device names (including alias) for the current
tango database. This means that when you try to create a new Device, by pressing
<tab> you can see a context sensitive list of devices.
.. sourcecode:: itango
ITango [1]: test = Device("<tab>
Display all 3654 possibilities? (y or n) n
ITango [1]: test = Device("sys<tab>
sys/access_control/1 sys/database/2 sys/tautest/1 sys/tg_test/1
ITango [2]: test = Device("sys/tg_test/1")
Attribute name completion
~~~~~~~~~~~~~~~~~~~~~~~~~
ITango_ can inspect the list of attributes in case the device server for the device
where the attribute resides is running.
.. sourcecode:: itango
ITango [1]: short_scalar = Attribute("sys<tab>
sys/access_control/1/ sys/database/2/ sys/tautest/1/ sys/tg_test/1/
ITango [1]: short_scalar = Attribute("sys/tg_test/1/<tab>
sys/tg_test/1/State sys/tg_test/1/no_value
sys/tg_test/1/Status sys/tg_test/1/short_image
sys/tg_test/1/ampli sys/tg_test/1/short_image_ro
sys/tg_test/1/boolean_image sys/tg_test/1/short_scalar
sys/tg_test/1/boolean_image_ro sys/tg_test/1/short_scalar_ro
sys/tg_test/1/boolean_scalar sys/tg_test/1/short_scalar_rww
sys/tg_test/1/boolean_spectrum sys/tg_test/1/short_scalar_w
sys/tg_test/1/boolean_spectrum_ro sys/tg_test/1/short_spectrum
sys/tg_test/1/double_image sys/tg_test/1/short_spectrum_ro
sys/tg_test/1/double_image_ro sys/tg_test/1/string_image
sys/tg_test/1/double_scalar sys/tg_test/1/string_image_ro
...
ITango [1]: short_scalar = Attribute("sys/tg_test/1/short_scalar")
ITango [29]: print test.read()
DeviceAttribute[
data_format = tango._tango.AttrDataFormat.SCALAR
dim_x = 1
dim_y = 0
has_failed = False
is_empty = False
name = 'short_scalar'
nb_read = 1
nb_written = 1
quality = tango._tango.AttrQuality.ATTR_VALID
r_dimension = AttributeDimension(dim_x = 1, dim_y = 0)
time = TimeVal(tv_nsec = 0, tv_sec = 1279723723, tv_usec = 905598)
type = tango._tango.CmdArgType.DevShort
value = 47
w_dim_x = 1
w_dim_y = 0
w_dimension = AttributeDimension(dim_x = 1, dim_y = 0)
w_value = 0]
Automatic tango object member completion
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
When you create a new tango object, (ex.: a device), itango is able to find out
dynamically which are the members of this device (including tango commands
and attributes if the device is currently running)
.. sourcecode:: itango
ITango [1]: test = Device("sys/tg_test/1")
ITango [2]: test.<tab>
Display all 240 possibilities? (y or n)
...
test.DevVoid test.get_access_control
test.Init test.get_asynch_replies
test.State test.get_attribute_config
test.Status test.get_attribute_config_ex
test.SwitchStates test.get_attribute_list
...
ITango [2]: test.short_<tab>
test.short_image test.short_scalar test.short_scalar_rww test.short_spectrum
test.short_image_ro test.short_scalar_ro test.short_scalar_w test.short_spectrum_ro
ITango [2]: test.short_scalar # old style: test.read_attribute("short_scalar").value
Result [2]: 252
ITango [3]: test.Dev<tab>
test.DevBoolean test.DevUShort test.DevVarShortArray
test.DevDouble test.DevVarCharArray test.DevVarStringArray
test.DevFloat test.DevVarDoubleArray test.DevVarULongArray
test.DevLong test.DevVarDoubleStringArray test.DevVarUShortArray
test.DevShort test.DevVarFloatArray test.DevVoid
test.DevString test.DevVarLongArray
test.DevULong test.DevVarLongStringArray
ITango [3]: test.DevDouble(56.433) # old style: test.command_inout("DevDouble").
Result [3]: 56.433
Tango classes as :class:`DeviceProxy`
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
ITango_ exports all known tango classes as python alias to :class:`DeviceProxy`.
This way, if you want to create a device of class which you already know
(say, Libera, for example) you can do:
.. sourcecode:: itango
ITango [1]: lib01 = Libera("BO01/DI/BPM-01")
One great advantage is that the tango device name completion is sensitive to the
type of device you want to create. This means that if you are in the middle of
writing a device name and you press the <tab> key, only devices of the tango
class 'Libera' will show up as possible completions.
.. sourcecode:: itango
ITango [1]: bpm1 = Libera("<tab>
BO01/DI/BPM-01 BO01/DI/BPM-09 BO02/DI/BPM-06 BO03/DI/BPM-03 BO03/DI/BPM-11 BO04/DI/BPM-08
BO01/DI/BPM-02 BO01/DI/BPM-10 BO02/DI/BPM-07 BO03/DI/BPM-04 BO04/DI/BPM-01 BO04/DI/BPM-09
BO01/DI/BPM-03 BO01/DI/BPM-11 BO02/DI/BPM-08 BO03/DI/BPM-05 BO04/DI/BPM-02 BO04/DI/BPM-10
BO01/DI/BPM-04 BO02/DI/BPM-01 BO02/DI/BPM-09 BO03/DI/BPM-06 BO04/DI/BPM-03 BO04/DI/BPM-11
BO01/DI/BPM-05 BO02/DI/BPM-02 BO02/DI/BPM-10 BO03/DI/BPM-07 BO04/DI/BPM-04
BO01/DI/BPM-06 BO02/DI/BPM-03 BO02/DI/BPM-11 BO03/DI/BPM-08 BO04/DI/BPM-05
BO01/DI/BPM-07 BO02/DI/BPM-04 BO03/DI/BPM-01 BO03/DI/BPM-09 BO04/DI/BPM-06
BO01/DI/BPM-08 BO02/DI/BPM-05 BO03/DI/BPM-02 BO03/DI/BPM-10 BO04/DI/BPM-07
ITango [1]: bpm1 = Libera("BO01<tab>
BO01/DI/BPM-01 BO01/DI/BPM-03 BO01/DI/BPM-05 BO01/DI/BPM-07 BO01/DI/BPM-09 BO01/DI/BPM-11
BO01/DI/BPM-02 BO01/DI/BPM-04 BO01/DI/BPM-06 BO01/DI/BPM-08 BO01/DI/BPM-10
ITango [1]: bpm1 = Libera("BO01/DI/BPM-01")
Customized device representation
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
When you use ipython >= 0.11 with a Qt console frontend:
.. sourcecode:: console
$ itango qtconsole
typing a variable containing a tango device object followend by :kbd:`Enter`
will present you with a customized representation of the object instead of the
usual :func:`repr` :
.. image:: _images/itango06.png
You can customize the icon that itango displays for a specific device.
The first thing to do is to copy the image file into
`itango.resource` installation directory (if you don't have
permissions to do so, copy the image into a directory of your choosing
and make sure it is accessible from itango).
If you want to use the image for all devices of a certain tango class, just
add a new tango class property called *__icon*. You can do it with jive or, of
course, with itango itself::
db.put_class_property("Libera", dict(__icon="libera.png"))
# if you placed your image in a directory different than itango.resource
# then, instead you have to specify the absolute directory
db.put_class_property("Libera", dict(__icon="/home/homer/.config/itango/libera.png"))
If you need different images for different devices of the same class, you can
specify an *__icon* property at the device level (which takes precedence over
the class property value, if defined)::
db.put_device_property("BO01/DI/BPM-01", dict(__icon="libera2.png"))
List tango devices, classes, servers
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
ITango_ provides a set of magic functions (ipython lingo) that allow you to check
for the list tango devices, classes and servers which are registered in the
current database.
.. sourcecode:: itango
ITango [1]: lsdev
Device Alias Server Class
---------------------------------------- ------------------------- ------------------------- --------------------
expchan/BL99_Dummy0DCtrl/1 BL99_0D1 Pool/BL99 ZeroDExpChannel
simulator/bl98/motor08 Simulator/BL98 SimuMotor
expchan/BL99_Dummy0DCtrl/3 BL99_0D3 Pool/BL99 ZeroDExpChannel
expchan/BL99_Dummy0DCtrl/2 BL99_0D2 Pool/BL99 ZeroDExpChannel
expchan/BL99_Dummy0DCtrl/5 BL99_0D5 Pool/BL99 ZeroDExpChannel
expchan/BL99_Dummy0DCtrl/4 BL99_0D4 Pool/BL99 ZeroDExpChannel
expchan/BL99_Dummy0DCtrl/7 BL99_0D7 Pool/BL99 ZeroDExpChannel
expchan/BL99_Dummy0DCtrl/6 BL99_0D6 Pool/BL99 ZeroDExpChannel
simulator/bl98/motor01 Simulator/BL98 SimuMotor
simulator/bl98/motor02 Simulator/BL98 SimuMotor
simulator/bl98/motor03 Simulator/BL98 SimuMotor
mg/BL99/_mg_macserv_26065_-1320158352 Pool/BL99 MotorGroup
simulator/bl98/motor05 Simulator/BL98 SimuMotor
simulator/bl98/motor06 Simulator/BL98 SimuMotor
simulator/bl98/motor07 Simulator/BL98 SimuMotor
simulator/BL98/motctrl01 Simulator/BL98 SimuMotorCtrl
expchan/BL99_Simu0DCtrl1/1 BL99_0D8 Pool/BL99 ZeroDExpChannel
expchan/BL99_UxTimerCtrl1/1 BL99_Timer Pool/BL99 CTExpChannel
...
ITango [1]: lsdevclass
SimuCoTiCtrl TangoAccessControl ZeroDExpChannel
Door Motor DataBase
MotorGroup IORegister SimuMotorCtrl
TangoTest MacroServer TauTest
SimuMotor SimuCounterEx MeasurementGroup
Pool CTExpChannel
ITango [1]: lsserv
MacroServer/BL99 MacroServer/BL98 Pool/V2
Pool/BL99 Pool/BL98 TangoTest/test
Pool/tcoutinho Simulator/BL98
TangoAccessControl/1 TauTest/tautest DataBaseds/2
MacroServer/tcoutinho Simulator/BL99
Customized tango error message and introspection
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
ITango_ intercepts tango exceptions that occur when you do tango operations
(ex.: write an attribute with a value outside the allowed limits) and tries to
display it in a summarized, user friendly way.
If you need more detailed information about the last tango error, you can use
the magic command 'tango_error'.
.. sourcecode:: itango
ITango [1]: test = Device("sys/tg_test/1")
ITango [2]: test.no_value
API_AttrValueNotSet : Read value for attribute no_value has not been updated
For more detailed information type: tango_error
ITango [3]: tango_error
Last tango error:
DevFailed[
DevError[
desc = 'Read value for attribute no_value has not been updated'
origin = 'Device_3Impl::read_attributes_no_except'
reason = 'API_AttrValueNotSet'
severity = tango._tango.ErrSeverity.ERR]
DevError[
desc = 'Failed to read_attribute on device sys/tg_test/1, attribute no_value'
origin = 'DeviceProxy::read_attribute()'
reason = 'API_AttributeFailed'
severity = tango._tango.ErrSeverity.ERR]]
Switching database
~~~~~~~~~~~~~~~~~~
You can switch database simply by executing the 'switchdb <host> [<port>]' magic
command.
.. sourcecode:: itango
ITango [1]: switchdb
Must give new database name in format <host>[:<port>].
<port> is optional. If not given it defaults to 10000.
Examples:
switchdb homer:10005
switchdb homer 10005
switchdb homer
ITango [2]: db
Database(homer, 10000)
ITango [3]: switchdb bart # by default port is 10000
ITango [4]: db
Database(bart, 10000)
ITango [5]: switchdb lisa 10005 # you can use spaces between host and port
ITango [6]: db
Database(lisa, 10005)
ITango [7]: switchdb marge:10005 # or the traditional ':'
ITango [8]: db
Database(marge, 10005)
Refreshing the database
~~~~~~~~~~~~~~~~~~~~~~~
When itango starts up or when the database is switched, a query is made to the
tango Database device server which provides all necessary data. This
data is stored locally in a itango cache which is used to provide all the nice
features.
If the Database server is changed in some way (ex: a new device server is registered),
the local database cache is not consistent anymore with the tango database.
Therefore, itango provides a magic command 'refreshdb' that allows you to reread
all tango information from the database.
.. sourcecode:: itango
ITango [1]: refreshdb
Storing your favorite tango objects for later usage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. note::
This feature is not available if you have installed IPython 0.11!
Since version 7.1.2, :class:`DeviceProxy`, :class:`AttributeProxy` and
:class:`Database` became pickable.
This means that they can be used by the IPython_ 'store' magic command (type
'store?' on the itango console to get information on how to use this command).
You can, for example, assign your favorite devices in local python variables and
then store these for the next time you startup IPython_ with itango profile.
.. sourcecode:: itango
ITango [1]: theta = Motor("BL99_M1") # notice how we used tango alias
ITango [2]: store theta
Stored 'theta' (DeviceProxy)
ITango [3]: Ctrl+D
(IPython session is closed and started again...)
ITango [1]: store -r # in some versions of IPython you may need to do this ...
ITango [1]: print theta
DeviceProxy(motor/bl99/1)
Adding itango to your own ipython profile
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Adding itango to the ipython default profile
##################################################
Let's assume that you find itango so useful that each time you start ipython, you want
itango features to be loaded by default.
The way to do this is by editing your default ipython configuration file:
1. On IPython <= 0.10
$HOME/.ipython/ipy_user_conf.py and add the lines 1 and 7.
.. note::
The code shown below is a small part of your $HOME/.ipython/ipy_user_conf.py.
It is shown here only the relevant part for this example.
.. sourcecode:: python
import itango
def main():
# uncomment if you want to get ipython -p sh behaviour
# without having to use command line switches
# import ipy_profile_sh
itango.init_ipython(ip, console=False)
2. On IPython > 0.10
First you have to check which is the configuration directory being used by
IPython. For this, in an IPython console type:
.. sourcecode:: itango
ITango [1]: import IPython.utils.path
ITango [2]: IPython.utils.path.get_ipython_dir()
<IPYTHON_DIR>
now edit <IPYTHON_DIR>/profile_default/ipython_config.py and add the
following line at the end to add itango configuration::
load_subconfig('ipython_config.py', profile='tango')
Alternatively, you could also load itango as an IPython extension::
config = get_config()
i_shell_app = config.InteractiveShellApp
extensions = getattr(i_shell_app, 'extensions', [])
extensions.append('itango')
i_shell_app.extensions = extensions
for more information on how to configure IPython >= 0.11 please check the
`IPython configuration <http://ipython.org/ipython-doc/dev/config/ipython.html#configuring-the-ipython-command-line-application>`_
And now, every time you start ipython::
ipython
itango features will also be loaded.
.. sourcecode:: ipython
In [1]: db
Out[1]: Database(homer, 10000)
Adding itango to an existing customized profile
####################################################
.. note::
This chapter has a pending update. The contents only apply to
IPython <= 0.10.
If you have been working with IPython_ before and have already defined a
customized personal profile, you can extend your profile with itango features
without breaking your existing options. The trick is to initialize itango extension
with a parameter that tells itango to maintain the existing options (like colors,
command line and initial banner).
So, for example, let's say you have created a profile called nuclear, and therefore
you have a file called $HOME/.ipython/ipy_profile_nuclear.py with the following
contents:
.. sourcecode:: python
import os
import IPython.ipapi
def main():
ip = IPython.ipapi.get()
o = ip.options
o.banner = "Springfield nuclear powerplant CLI\n\nWelcome Homer Simpson"
o.colors = "Linux"
o.prompt_in1 = "Mr. Burns owns you [\\#]: "
main()
In order to have itango features available to this profile you simply need to
add two lines of code (lines 3 and 7):
.. sourcecode:: python
import os
import IPython.ipapi
import itango
def main():
ip = IPython.ipapi.get()
itango.init_ipython(ip, console=False)
o = ip.options
o.banner = "Springfield nuclear powerplant CLI\n\nMr. Burns owns you!"
o.colors = "Linux"
o.prompt_in1 = "The Simpsons [\\#]: "
main()
This will load the itango features into your profile while preserving your
profile's console options (like colors, command line and initial banner).
Creating a profile that extends itango profile
####################################################
.. note::
This chapter has a pending update. The contents only apply to
IPython <= 0.10.
It is also possible to create a profile that includes all itango features and at
the same time adds new ones. Let's suppose that you want to create a customized
profile called 'orbit' that automatically exports devices of class
'Libera' for the booster accelerator (assuming you are working on a synchrotron
like institute ;-).
Here is the code for the $HOME/.ipython/ipy_profile_orbit.py:
.. sourcecode:: python
import os
import IPython.ipapi
import IPython.genutils
import IPython.ColorANSI
import itango
import StringIO
def magic_liberas(ip, p=''):
"""Lists all known Libera devices."""
data = itango.get_device_map()
s = StringIO.StringIO()
cols = 30, 15, 20
l = "%{0}s %{1}s %{2}s".format(*cols)
print >>s, l % ("Device", "Alias", "Server")
print >>s, l % (cols[0]*"-", cols[1]*"-", cols[2]*"-")
for d, v in data.items():
if v[2] != 'Libera': continue
print >>s, l % (d, v[0], v[1])
s.seek(0)
IPython.genutils.page(s.read())
def main():
ip = IPython.ipapi.get()
itango.init_ipython(ip)
o = ip.options
Colors = IPython.ColorANSI.TermColors
c = dict(Colors.__dict__)
o.banner += "\n{Brown}Welcome to Orbit analysis{Normal}\n".format(**c)
o.prompt_in1 = "Orbit [\\#]: "
o.colors = "BlueTango"
ip.expose_magic("liberas", magic_liberas)
db = ip.user_ns.get('db')
dev_class_dict = itango.get_class_map()
if not dev_class_dict.has_key("Libera"):
return
for libera in dev_class_dict['Libera']:
domain, family, member = libera.split("/")
var_name = domain + "_" + member
var_name = var_name.replace("-","_")
ip.to_user_ns( { var_name : tango.DeviceProxy(libera) } )
main()
Then start your CLI with:
.. sourcecode:: console
$ ipython --profile=orbit
and you will have something like this
.. image:: _images/itango02.png
Advanced event monitoring
~~~~~~~~~~~~~~~~~~~~~~~~~
With itango it is possible to monitor change events triggered by any tango
attribute which has events enabled.
To start monitoring the change events of an attribute:
.. sourcecode:: itango
ITango [1]: mon -a BL99_M1/Position
'BL99_M1/Position' is now being monitored. Type 'mon' to see all events
To list all events that have been intercepted:
.. sourcecode:: itango
ITango [2]: mon
ID Device Attribute Value Quality Time
---- ---------------- ------------ ---------------- ------------- ----------------
0 motor/bl99/1 state ON ATTR_VALID 17:11:08.026472
1 motor/bl99/1 position 190.0 ATTR_VALID 17:11:20.691112
2 motor/bl99/1 state MOVING ATTR_VALID 17:12:11.858985
3 motor/bl99/1 position 188.954072857 ATTR_CHANGING 17:12:11.987817
4 motor/bl99/1 position 186.045533882 ATTR_CHANGING 17:12:12.124448
5 motor/bl99/1 position 181.295838155 ATTR_CHANGING 17:12:12.260884
6 motor/bl99/1 position 174.55354729 ATTR_CHANGING 17:12:12.400036
7 motor/bl99/1 position 166.08870515 ATTR_CHANGING 17:12:12.536387
8 motor/bl99/1 position 155.77528943 ATTR_CHANGING 17:12:12.672846
9 motor/bl99/1 position 143.358230136 ATTR_CHANGING 17:12:12.811878
10 motor/bl99/1 position 131.476140017 ATTR_CHANGING 17:12:12.950391
11 motor/bl99/1 position 121.555421781 ATTR_CHANGING 17:12:13.087970
12 motor/bl99/1 position 113.457930987 ATTR_CHANGING 17:12:13.226531
13 motor/bl99/1 position 107.319423091 ATTR_CHANGING 17:12:13.363559
14 motor/bl99/1 position 102.928229946 ATTR_CHANGING 17:12:13.505102
15 motor/bl99/1 position 100.584726495 ATTR_CHANGING 17:12:13.640794
16 motor/bl99/1 position 100.0 ATTR_ALARM 17:12:13.738136
17 motor/bl99/1 state ALARM ATTR_VALID 17:12:13.743481
ITango [3]: mon -l mot.* state
ID Device Attribute Value Quality Time
---- ---------------- ------------ ---------------- ------------- ----------------
0 motor/bl99/1 state ON ATTR_VALID 17:11:08.026472
2 motor/bl99/1 state MOVING ATTR_VALID 17:12:11.858985
17 motor/bl99/1 state ALARM ATTR_VALID 17:12:13.743481
To stop monitoring the attribute:
.. sourcecode:: itango
ITango [1]: mon -d BL99_M1/Position
Stopped monitoring 'BL99_M1/Position'
.. note::
Type 'mon?' to see detailed information about this magic command
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