taurus core tutorial¶
The core has been designed to provide a model-based abstraction to the various sources of data and/or control objects supported via the Taurus schemes (we use the term “model” to refer to the model component in an MVC driven architecture).
A scheme is a plugin for Taurus that provides the glue between Taurus and a
given source of data and/or of objects that can be controlled. For example,
schemes exist for various control system libraries (such as
Tango, or EPICS) as well as for processing data (e.g. the
Each scheme implements at least a Factory (derived from
taurus.core.TaurusFactory) which provides Taurus model objects ,
for a given model name.
All Taurus Elements (Devices, Attributes, etc) are model objects with an associated unique name. The model name is an URI (as defined in RFC3986).
In practice, the URIs have the following form (for a complete and rigorous description refer to RFC3986):
The <authority>, if present, starts by ‘//’
The <path>, if present, starts by ‘/’ (except for relative URIs)
Examples of model names¶
Different schemes may choose different conventions to name the models that they provide.
The following are some examples for the
The full Taurus model name for a Tango device sys/tg_test/1 registered in a Tango Database running on machine:10000 is:
Now, if we assume that:
tangois set as the default scheme and that
machine:10000is set as the default TANGO_HOST
tgtest1is set as an alias of
then the same Tango device could be accessed as:
In the case of Tango attributes, here are some equivalent examples given the above assumptions:
taurus.core.tango for a more exhaustive description and more
examples related to Tango.
The following are some examples for the
An evaluation attribute that generates an array of dimensionless random values when read:
An evaluation attribute that applies a multiplication factor to an existing tango attribute (and which is updated every time that the tango attribute changes):
Or one that adds noise to a tango image attribute:
And, by using custom evaluators, one can easily access virtually anything available from a python module. For example, using the datetime module to get today’s date as a Taurus attribute:
taurus.core.evaluation for a more exhaustive description and some
tricks with the Evaluation scheme and the custom evaluators.
Now an example for the
taurus.core.epics scheme. The model name for the
EPICS process variable (PV) “my:example.RBV” is:
Note that you can create your own schemes and add them to taurus (e.g., a scheme to access your own home-brew control system). Some schemes that are in our TO-DO list are:
A scheme to access datasets in HDF5 files as Taurus attributes
A scheme to access ranges of cells in a spreadsheet file as Taurus attributes
A scheme to access column/row data in ASCII files as Taurus attributes
A scheme to access data from mySQL databases as Taurus attributes
A scheme to access Tango-archived data as Taurus attributes
Taurus users are encouraged to write code that is “scheme-agnostic”, that is, that it neither assumes the availability of certain schemes nor uses any scheme-specific feature. For this, Taurus provides several high-level scheme-agnostic helpers to obtain the Taurus Element associated to a given model name:
The first three helpers require you to know which type of Element (i.e.,
Attribute, Device or Authority) is represented by the model name. If you do not know that
beforehand, you can use
taurus.Object() which will automatically find the
type and provide you with the corresponding model object (but of course this is
slightly less efficient than using one of the first three helpers).
These helpers will automatically find out which scheme corresponds to the given
model and will delegate the creation of the model object to the corresponding
scheme-specific Factory. Therefore, the returned model object will be of a
specialized subclass of the corresponding Taurus generic Element and it
will expose the scheme-agnostic API plus optionally some scheme-specific
taurus.core.tango.TangoDevice objects provide all the
API of a
taurus.core.TaurusDevice but they also provide all the methods
For example, obtaining the device model object for a TangoTest Device can be done as follows:
import taurus testDev = taurus.Device('sys/tg_test/1')
import taurus testDev = taurus.Object('sys/tg_test/1')
Also for example, obtaining the Taurus Attribute model corresponding to the EPICS Process Variable called “my:example.RBV” is just:
import taurus testDev = taurus.Attribute('epics:my:example.RBV')
Taurus also provides other helpers to access lower level objects for dealing with models:
And also some useful methods to validate names, find out the element type(s) for a given name and other related tasks:
Advantages of accessing Tango via Taurus over PyTango¶
If you are familiar with PyTango you may be asking yourself what is the real advantage of using taurus instead of PyTango directly for accessing Tango objects. There are actually many benefits from using taurus. Here is a list of the most important ones.
- integration with other schemes
Taurus is not just Tango. For example, you can treat a Tango Attribute just as you would treat an EPICS attribute, and use them both in the same application.
- model unicity:
you may request the same model many times without performance hit, since taurus will give you the same object:
>>> import taurus >>> sim1 = taurus.Device('sys/tg_test/1') >>> sim2 = taurus.Device('sys/tg_test/1') >>> print sim1 == sim2 True
Whereas in PyTango the same code always results in the construction of new DeviceProxy objects:
>>> import PyTango >>> sim1 = PyTango.DeviceProxy('sys/tg_test/1') >>> sim2 = PyTango.DeviceProxy('sys/tg_test/1') >>> print sim1 == sim2 False
- model intelligence:
taurus is clever enough to know that, for example, ‘sys/tg_test/1’ represents the same model as ‘tango:SYS/Tg_TEST/1’ so:
>>> import taurus >>> sim1 = taurus.Device('sys/tg_test/1') >>> sim2 = taurus.Device('tango:SYS/Tg_TEST/1') >>> print sim1 == sim2 True
- tango event abstraction:
taurus cleverly hides the complexities and restrictions of the tango event system. With taurus you can:
subscribe to the same event multiple times
handle tango events from any thread
Some optimizations are also done to ensure that the tango event thread is not blocked by the user event handle code.