Merge branch 'master' into 2021-03-22T14.42.30-branched_from_master-Makefile_refactoring

CDB/test_ConfigDb.json

+{
+    "servers": {
+        "PCC": {
+            "1": {
+                "PCC": {
+                    "LTS/PCC/1": {
+                        "properties": {
+                            "OPC_Server_Name": [
+                                "ltspi.astron.nl"
+                            ]
+                        }
+                    }
+                }
+            }
+        },
+        "SDP": {
+            "1": {
+                "SDP": {
+                    "LTS/SDP/1": {
+                        "properties": {
+                            "OPC_Server_Name": [
+                                "DESPi2.astron.nl"
+                            ]
+                        }
+                    }
+                }
+            }
+        },
+        "example_device": {
+            "1": {
+                "example_device": {
+                    "LTS/example_device/1": {
+                         "attribute_properties": {
+                            "Ant_mask_RW": {
+                                "archive_period": [
+                                    "600000"
+                                ]
+                            }
+						},
+                        "properties": {
+                            "OPC_Server_Name": [
+                                "host.docker.internal"
+                            ],
+                            "OPC_Server_Port": [
+                                "4842"
+                            ],
+                            "OPC_Time_Out": [
+                                "5.0"
+                            ]
+                        }
+                    }
+                }
+            }
+        }
+    }
+}

CDB/windows_ConfigDb.json

+{
+    "servers": {
+        "PCC": {
+            "1": {
+                "PCC": {
+                    "LTS/PCC/1": {
+                        "properties": {
+                            "OPC_Server_Name": [
+                                "host.docker.internal"
+                            ]
+                        }
+                    }
+                }
+            }
+        },
+        "SDP": {
+            "1": {
+                "SDP": {
+                    "LTS/SDP/1": {
+                        "properties": {
+                            "OPC_Server_Name": [
+                                "host.docker.internal"
+                            ]
+                        }
+                    }
+                }
+            }
+        },
+        "example_device": {
+            "1": {
+                "example_device": {
+                    "LTS/example_device/1": {
+                         "attribute_properties": {
+                            "Ant_mask_RW": {
+                                "archive_period": [
+                                    "600000"
+                                ]
+                            }
+						},
+                        "properties": {
+                            "OPC_Server_Name": [
+                                "host.docker.internal"
+                            ],
+                            "OPC_Server_Port": [
+                                "4842"
+                            ],
+                            "OPC_Time_Out": [
+                                "5.0"
+                            ]
+                        }
+                    }
+                }
+            }
+        }
+    }
+}

PCC/PCC/PCC.py

@@ -87,6 +87,10 @@ class PCC(Device):
     # Attributes
     # ----------
 
+    RCU_state_R = attribute(
+        dtype = (numpy.str),
+    )
+
     RCU_mask_RW = attribute(
         dtype=(numpy.bool_,),
         max_dim_x=32,
@@ -204,6 +208,11 @@ class PCC(Device):
         access=AttrWriteType.READ_WRITE,
     )
 
+    uC_ID_R = attribute(
+        dtype=(numpy.int64,),
+        max_dim_x=32,
+    )
+
     RCU_monitor_rate_RW = attribute(
         dtype=numpy.float_,
         access=AttrWriteType.READ_WRITE,
@@ -233,6 +242,8 @@ class PCC(Device):
 
         self.debug_stream("Mapping OPC-UA MP/CP to attributes...")
 
+        self.attribute_mapping["RCU_state_R"] = self.get_pcc_node("RCU_state_R")
+
         self.attribute_mapping["RCU_mask_RW"] = self.get_pcc_node("RCU_mask_RW")
 
         self.attribute_mapping["Ant_mask_RW"] = self.get_pcc_node("Ant_mask_RW")
@@ -277,6 +288,8 @@ class PCC(Device):
 
         self.attribute_mapping["HBA_element_pwr_RW"] = self.get_pcc_node("HBA_element_pwr_RW")
 
+        self.attribute_mapping["uC_ID_R"] = self.get_pcc_node("uC_ID_R")
+
         self.attribute_mapping["RCU_monitor_rate_RW"] = self.get_pcc_node("RCU_monitor_rate_RW")
 
         self.function_mapping["RCU_off"] = self.get_pcc_node("RCU_off")
@@ -314,6 +327,9 @@ class PCC(Device):
 
         # Set default values in the RW/R attributes and add them to
         # the mapping.
+        self._RCU_state_R = ""
+        self.attribute_mapping["RCU_state_R"] = {}
+
         self._RCU_mask_RW = numpy.full(32, False)
         self.attribute_mapping["RCU_mask_RW"] = {}
 
@@ -380,6 +396,9 @@ class PCC(Device):
         self._HBA_element_pwr_RW = numpy.full((96, 32), 0)
         self.attribute_mapping["HBA_element_pwr_RW"] = {}
 
+        self._uC_ID_R = numpy.full(32, 0)
+        self.attribute_mapping["uC_ID_R"] = {}
+
         self._RCU_monitor_rate_RW = 30.0
         self.attribute_mapping["RCU_monitor_rate_RW"] = {}
 
@@ -450,6 +469,13 @@ class PCC(Device):
     # ------------------
     # Attributes methods
     # ------------------
+    @only_when_on
+    @fault_on_error
+    def read_RCU_state_R(self):
+        """Return the RCU_state_R attribute."""
+        self._RCU_state_R = self.attribute_mapping["RCU_state_R"].get_value()
+        return self._RCU_state_R
+
     @only_when_on
     @fault_on_error
     def read_RCU_mask_R(self):
@@ -675,6 +701,13 @@ class PCC(Device):
         self.attribute_mapping["HBA_element_pwr_RW"].set_value(value.flatten().tolist())
         self._HBA_element_pwr_RW = value
 
+    @only_when_on
+    @fault_on_error
+    def read_uC_ID_R(self):
+        """Return the uC_ID_R attribute."""
+        self._uC_ID_R = numpy.array(self.attribute_mapping["uC_ID_R"].get_value())
+        return self._uC_ID_R
+
     @only_when_on
     @fault_on_error
     def read_RCU_monitor_rate_RW(self):

devices/HW_device_template.py

+# -*- coding: utf-8 -*-
+#
+# This file is part of the PCC project
+#
+#
+#
+# Distributed under the terms of the APACHE license.
+# See LICENSE.txt for more info.
+
+""" Hardware Device Server for LOFAR2.0
+
+"""
+
+# PyTango imports
+from tango.server import run
+# Additional import
+
+from src.hardware_device import *
+
+
+__all__ = ["HW_dev"]
+
+class HW_dev(hardware_device):
+	"""
+	This class is the minimal (read empty) implementation of a class using 'hardware_device'
+	"""
+
+	# ----------
+	# Attributes
+	# ----------
+	"""
+	attribute wrapper objects can be declared here. All attribute wrapper objects will get automatically put in a ist (attr_list) for easy access
+	
+	example = attribute_wrapper(comms_annotation="this is an example", datatype=numpy.double, dims=(8, 2), access=AttrWriteType.READ_WRITE)
+	...
+	
+	"""
+
+	def always_executed_hook(self):
+		"""Method always executed before any TANGO command is executed."""
+		pass
+
+	def delete_device(self):
+		"""Hook to delete resources allocated in init_device.
+
+		This method allows for any memory or other resources allocated in the
+		init_device method to be released.  This method is called by the device
+		destructor and by the device Init command (a Tango built-in).
+		"""
+		self.debug_stream("Shutting down...")
+
+		self.Off()
+		self.debug_stream("Shut down.  Good bye.")
+
+	# --------
+	# overloaded functions
+	# --------
+	def fault(self):
+		""" user code here. is called when the state is set to FAULT """
+		pass
+
+	def off(self):
+		""" user code here. is called when the state is set to OFF """
+		pass
+
+	def on(self):
+		""" user code here. is called when the state is set to ON """
+
+		pass
+
+	def standby(self):
+		""" user code here. is called when the state is set to STANDBY """
+		pass
+
+	def initialise(self):
+		""" user code here. is called when the sate is set to INIT """
+		pass
+
+# ----------
+# Run server
+# ----------
+def main(args=None, **kwargs):
+	"""Main function of the hardware device module."""
+	return run((HW_dev,), args=args, **kwargs)
+
+
+if __name__ == '__main__':
+	main()
+

devices/LICENSE.txt

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+
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+you may not use this file except in compliance with the License.
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devices/PCC.py

+# -*- coding: utf-8 -*-
+#
+# This file is part of the PCC project
+#
+#
+#
+# Distributed under the terms of the APACHE license.
+# See LICENSE.txt for more info.
+
+""" PCC Device Server for LOFAR2.0
+
+"""
+
+# PyTango imports
+from tango import DebugIt
+from tango.server import run, command
+from tango.server import device_property
+# Additional import
+
+from clients.opcua_connection import OPCUAConnection
+from src.attribute_wrapper import *
+from src.hardware_device import *
+
+
+__all__ = ["PCC", "main"]
+
+class PCC(hardware_device):
+	"""
+
+	**Properties:**
+
+	- Device Property
+		OPC_Server_Name
+			- Type:'DevString'
+		OPC_Server_Port
+			- Type:'DevULong'
+		OPC_Time_Out
+			- Type:'DevDouble'
+	"""
+
+	# -----------------
+	# Device Properties
+	# -----------------
+
+	OPC_Server_Name = device_property(
+		dtype='DevString',
+		mandatory=True
+	)
+
+	OPC_Server_Port = device_property(
+		dtype='DevULong',
+		mandatory=True
+	)
+
+	OPC_Time_Out = device_property(
+		dtype='DevDouble',
+		mandatory=True
+	)
+	OPC_namespace = device_property(
+		dtype='DevString',
+		mandatory=False
+	)
+
+	# ----------
+	# Attributes
+	# ----------
+	RCU_mask_RW = attribute_wrapper(comms_annotation=["2:PCC", "2:RCU_mask_RW"], datatype=numpy.bool_, dims=(32,), access=AttrWriteType.READ_WRITE)
+	Ant_mask_RW = attribute_wrapper(comms_annotation=["2:PCC", "2:Ant_mask_RW"], datatype=numpy.bool_, dims=(3, 32), access=AttrWriteType.READ_WRITE)
+	RCU_attenuator_R = attribute_wrapper(comms_annotation=["2:PCC", "2:RCU_attenuator_R"], datatype=numpy.int64, dims=(3, 32))
+	RCU_attenuator_RW = attribute_wrapper(comms_annotation=["2:PCC", "2:RCU_attenuator_RW"], datatype=numpy.int64, dims=(3, 32), access=AttrWriteType.READ_WRITE)
+	RCU_band_R = attribute_wrapper(comms_annotation=["2:PCC", "2:RCU_band_R"], datatype=numpy.int64, dims=(3, 32))
+	RCU_band_RW = attribute_wrapper(comms_annotation=["2:PCC", "2:RCU_band_RW"], datatype=numpy.int64, dims=(3, 32), access=AttrWriteType.READ_WRITE)
+	RCU_temperature_R = attribute_wrapper(comms_annotation=["2:PCC", "2:RCU_temperature_R"], datatype=numpy.float64, dims=(32,))
+	RCU_Pwr_dig_R = attribute_wrapper(comms_annotation=["2:PCC", "2:RCU_Pwr_dig_R"], datatype=numpy.int64, dims=(32,))
+	RCU_LED0_R = attribute_wrapper(comms_annotation=["2:PCC", "2:RCU_LED0_R"], datatype=numpy.int64, dims=(32,))
+	RCU_LED0_RW = attribute_wrapper(comms_annotation=["2:PCC", "2:RCU_LED0_RW"], datatype=numpy.int64, dims=(32,), access=AttrWriteType.READ_WRITE)
+	RCU_ADC_lock_R = attribute_wrapper(comms_annotation=["2:PCC", "2:RCU_ADC_lock_R"], datatype=numpy.int64, dims=(3, 32))
+	RCU_ADC_SYNC_R = attribute_wrapper(comms_annotation=["2:PCC", "2:RCU_ADC_SYNC_R"], datatype=numpy.int64, dims=(3, 32))
+	RCU_ADC_JESD_R = attribute_wrapper(comms_annotation=["2:PCC", "2:RCU_ADC_JESD_R"], datatype=numpy.int64, dims=(3, 32))
+	RCU_ADC_CML_R = attribute_wrapper(comms_annotation=["2:PCC", "2:RCU_ADC_CML_R"], datatype=numpy.int64, dims=(3, 32))
+	RCU_OUT1_R = attribute_wrapper(comms_annotation=["2:PCC", "2:RCU_OUT1_R"], datatype=numpy.int64, dims=(3, 32))
+	RCU_OUT2_R = attribute_wrapper(comms_annotation=["2:PCC", "2:RCU_OUT2_R"], datatype=numpy.int64, dims=(3, 32))
+	RCU_ID_R = attribute_wrapper(comms_annotation=["2:PCC", "2:RCU_ID_R"], datatype=numpy.int64, dims=(32,))
+	RCU_version_R = attribute_wrapper(comms_annotation=["2:PCC", "2:RCU_version_R"], datatype=numpy.str_, dims=(32,))
+
+	HBA_element_beamformer_delays_R = attribute_wrapper(comms_annotation=["2:PCC", "2:HBA_element_beamformer_delays_R"], datatype=numpy.int64, dims=(32,96))
+	HBA_element_beamformer_delays_RW = attribute_wrapper(comms_annotation=["2:PCC", "2:HBA_element_beamformer_delays_RW"], datatype=numpy.int64, dims=(32,96), access=AttrWriteType.READ_WRITE)
+	HBA_element_pwr_R = attribute_wrapper(comms_annotation=["2:PCC", "2:HBA_element_pwr_R"], datatype=numpy.int64, dims=(32,96))
+	HBA_element_pwr_RW = attribute_wrapper(comms_annotation=["2:PCC", "2:HBA_element_pwr_RW"], datatype=numpy.int64, dims=(32,96), access=AttrWriteType.READ_WRITE)
+
+	RCU_monitor_rate_RW = attribute_wrapper(comms_annotation=["2:PCC", "2:RCU_monitor_rate_RW"], datatype=numpy.float64, access=AttrWriteType.READ_WRITE)
+
+	def delete_device(self):
+		"""Hook to delete resources allocated in init_device.
+
+		This method allows for any memory or other resources allocated in the
+		init_device method to be released.  This method is called by the device
+		destructor and by the device Init command (a Tango built-in).
+		"""
+		self.debug_stream("Shutting down...")
+
+		self.Off()
+		self.debug_stream("Shut down.  Good bye.")
+
+	# --------
+	# overloaded functions
+	# --------
+	def off(self):
+		""" user code here. is called when the state is set to OFF """
+
+		# Stop keep-alive
+		self.opcua_connection.stop()
+
+	def initialise(self):
+		""" user code here. is called when the state is set to INIT """
+
+		# Init the dict that contains function to OPC-UA function mappings.
+		self.function_mapping = {}
+		self.function_mapping["RCU_on"] = {}
+		self.function_mapping["RCU_off"] = {}
+		self.function_mapping["ADC_on"] = {}
+		self.function_mapping["RCU_update"] = {}
+		self.function_mapping["CLK_on"] = {}
+		self.function_mapping["CLK_off"] = {}
+		self.function_mapping["CLK_PLL_setup"] = {}
+
+		#set up the OPC ua client
+		self.OPCua_client = OPCUAConnection("opc.tcp://{}:{}/".format(self.OPC_Server_Name, self.OPC_Server_Port), "http://lofar.eu", self.OPC_Time_Out, self.Standby, self.Fault, self)
+
+
+		# map the attributes to the OPC ua comm client
+		for i in self.attr_list():
+			try:
+				i.set_comm_client(self.OPCua_client)
+			except:
+				pass
+
+		self.OPCua_client.start()
+
+	# --------
+	# Commands
+	# --------
+	@command()
+	@DebugIt()
+	@only_when_on
+	@fault_on_error
+	def RCU_off(self):
+		"""
+
+		:return:None
+		"""
+		self.function_mapping["RCU_off"]()
+
+	@command()
+	@DebugIt()
+	@only_when_on
+	@fault_on_error
+	def RCU_on(self):
+		"""
+
+		:return:None
+		"""
+		self.function_mapping["RCU_on"]()
+
+	@command()
+	@DebugIt()
+	@only_when_on
+	@fault_on_error
+	def ADC_on(self):
+		"""
+
+		:return:None
+		"""
+		self.function_mapping["ADC_on"]()
+
+	@command()
+	@DebugIt()
+	@only_when_on
+	@fault_on_error
+	def RCU_update(self):
+		"""
+
+		:return:None
+		"""
+		self.function_mapping["RCU_update"]()
+
+	@command()
+	@DebugIt()
+	@only_when_on
+	@fault_on_error
+	def CLK_off(self):
+		"""
+
+		:return:None
+		"""
+		self.function_mapping["CLK_off"]()
+
+	@command()
+	@DebugIt()
+	@only_when_on
+	@fault_on_error
+	def CLK_on(self):
+		"""
+
+		:return:None
+		"""
+		self.function_mapping["CLK_on"]()
+
+	@command()
+	@DebugIt()
+	@only_when_on
+	@fault_on_error
+	def CLK_PLL_setup(self):
+		"""
+
+		:return:None
+		"""
+		self.function_mapping["CLK_PLL_setup"]()
+
+
+# ----------
+# Run server
+# ----------
+def main(args=None, **kwargs):
+	"""Main function of the PCC module."""
+	return run((PCC,), args=args, **kwargs)
+
+
+if __name__ == '__main__':
+	main()
+

devices/README.md

+# Device wrapper
+
+This code provides an attribute_wrapper class in place of attributes for tango devices. the attribute wrappers contain additional code 
+that moves a lot of the complexity and redundant code to the background. 
+
+The tango Device class is also abstracted further to a "hardware_device" class. This class wraps 
+
+The only things required on the users part are to declare the attributes using the attribute_wrapper (see `example/example_device`),
+declare what client the attribute has to use in the initialisation and provide support for the used clients. 
+To see how to add support for new clients, see `clients/README.md`
+
+In addition it also provides an abstraction to the tango device, specifically for hardware devices. Examples of hardware devices 
+can be found in TODO and an empty template can be found in `HW_device_template.py`
+
+Requires numpy 
+```pip install numpy```
+
+Requires opcua 
+```pip install opcua```
+
+Requires pytango 
+```pip install pytango```
+
+### usage
+You can start the device by calling it in any console with:
+<Device_name>.py instance_name

devices/SDP.py

+# -*- coding: utf-8 -*-
+#
+# This file is part of the SDP project
+#
+#
+#
+# Distributed under the terms of the APACHE license.
+# See LICENSE.txt for more info.
+
+""" SDP Device Server for LOFAR2.0
+
+"""
+
+# PyTango imports
+from tango.server import run
+from tango.server import device_property
+# Additional import
+
+from clients.opcua_connection import OPCUAConnection
+from src.attribute_wrapper import *
+from src.hardware_device import *
+
+
+__all__ = ["SDP", "main"]
+
+class SDP(hardware_device):
+	"""
+
+	**Properties:**
+
+	- Device Property
+		OPC_Server_Name
+			- Type:'DevString'
+		OPC_Server_Port
+			- Type:'DevULong'
+		OPC_Time_Out
+			- Type:'DevDouble'
+	"""
+
+	# -----------------
+	# Device Properties
+	# -----------------
+
+	OPC_Server_Name = device_property(
+		dtype='DevString',
+		mandatory=True
+	)
+
+	OPC_Server_Port = device_property(
+		dtype='DevULong',
+		mandatory=True
+	)
+
+	OPC_Time_Out = device_property(
+		dtype='DevDouble',
+		mandatory=True
+	)
+
+	# ----------
+	# Attributes
+	# ----------
+	fpga_mask_RW = attribute_wrapper(comms_annotation=["1:fpga_mask_RW"], datatype=numpy.bool_, dims=(16,), access=AttrWriteType.READ_WRITE)
+	fpga_scrap_R = attribute_wrapper(comms_annotation=["1:fpga_scrap_R"], datatype=numpy.int32, dims=(2048,))
+	fpga_scrap_RW = attribute_wrapper(comms_annotation=["1:fpga_scrap_RW"], datatype=numpy.int32, dims=(2048,), access=AttrWriteType.READ_WRITE)
+	fpga_status_R = attribute_wrapper(comms_annotation=["1:fpga_status_R"], datatype=numpy.bool_, dims=(16,))
+	fpga_temp_R = attribute_wrapper(comms_annotation=["1:fpga_temp_R"], datatype=numpy.float_, dims=(16,))
+	fpga_version_R = attribute_wrapper(comms_annotation=["1:fpga_version_R"], datatype=numpy.str_, dims=(16,))
+	fpga_weights_R = attribute_wrapper(comms_annotation=["1:fpga_weights_R"], datatype=numpy.int16, dims=(16, 12 * 488 * 2))
+	fpga_weights_RW = attribute_wrapper(comms_annotation=["1:fpga_weights_RW"], datatype=numpy.int16, dims=(16, 12 * 488 * 2), access=AttrWriteType.READ_WRITE)
+	tr_busy_R = attribute_wrapper(comms_annotation=["1:tr_busy_R"], datatype=numpy.bool_)
+	# NOTE: typo in node name is 'tr_reload_W' should be 'tr_reload_RW'
+	tr_reload_RW = attribute_wrapper(comms_annotation=["1:tr_reload_W"], datatype=numpy.bool_, access=AttrWriteType.READ_WRITE)
+	tr_tod_R = attribute_wrapper(comms_annotation=["1:tr_tod_R"], datatype=numpy.uint64)
+	tr_uptime_R = attribute_wrapper(comms_annotation=["1:tr_uptime_R"], datatype=numpy.uint64)
+
+	def always_executed_hook(self):
+		"""Method always executed before any TANGO command is executed."""
+		pass
+
+	def delete_device(self):
+		"""Hook to delete resources allocated in init_device.
+
+		This method allows for any memory or other resources allocated in the
+		init_device method to be released.  This method is called by the device
+		destructor and by the device Init command (a Tango built-in).
+		"""
+		self.debug_stream("Shutting down...")
+
+		self.Off()
+		self.debug_stream("Shut down.  Good bye.")
+
+	# --------
+	# overloaded functions
+	# --------
+	def off(self):
+		""" user code here. is called when the state is set to OFF """
+
+		# Stop keep-alive
+		self.opcua_connection.stop()
+
+	def initialise(self):
+		""" user code here. is called when the sate is set to INIT """
+		"""Initialises the attributes and properties of the PCC."""
+
+		# set up the OPC ua client
+		self.OPCua_client = OPCUAConnection("opc.tcp://{}:{}/".format(self.OPC_Server_Name, self.OPC_Server_Port), "http://lofar.eu", self.OPC_Time_Out, self.Standby, self.Fault, self)
+
+		# will contain all the values for this object
+		self.setup_value_dict()
+
+		# map an access helper class
+		for i in self.attr_list():
+			i.set_comm_client(self.OPCua_client)
+
+		self.OPCua_client.start()
+
+	# --------
+	# Commands
+	# --------
+
+# ----------
+# Run server
+# ----------
+def main(args=None, **kwargs):
+	"""Main function of the SDP module."""
+	return run((SDP,), args=args, **kwargs)
+
+
+if __name__ == '__main__':
+	main()
+

devices/clients/README.md

+this folder contains all the comms_client implementations for organisation
+
+### How to add a new client
+soon™
\ No newline at end of file

devices/clients/opcua_connection.py

+from src.comms_client import *
+
+
+__all__ = ["OPCUAConnection"]
+
+numpy_to_OPCua_dict = {
+	numpy.bool_: opcua.ua.VariantType.Boolean,
+	numpy.int8: opcua.ua.VariantType.SByte,
+	numpy.uint8: opcua.ua.VariantType.Byte,
+	numpy.int16: opcua.ua.VariantType.Int16,
+	numpy.uint16: opcua.ua.VariantType.UInt16,
+	numpy.int32: opcua.ua.VariantType.Int32,
+	numpy.uint32: opcua.ua.VariantType.UInt32,
+	numpy.int64: opcua.ua.VariantType.Int64,
+	numpy.uint64: opcua.ua.VariantType.UInt64,
+	numpy.datetime_data: opcua.ua.VariantType.DateTime, # is this the right type, does it even matter?
+	numpy.float32: opcua.ua.VariantType.Float,
+	numpy.double: opcua.ua.VariantType.Double,
+	numpy.float64: opcua.ua.VariantType.Double,
+	numpy.str_: opcua.ua.VariantType.String,
+	numpy.str: opcua.ua.VariantType.String,
+	str: opcua.ua.VariantType.String
+}
+
+# <class 'numpy.bool_'>
+
+class OPCUAConnection(CommClient):
+	"""
+	  Connects to OPC-UA in the foreground or background, and sends HELLO
+	  messages to keep a check on the connection. On connection failure, reconnects once.
+	"""
+
+	def start(self):
+		super().start()
+
+	def __init__(self, address, namespace, timeout, on_func, fault_func, streams, try_interval=2):
+		"""
+		Create the OPC ua client and connect() to it and get the object node
+		"""
+		super().__init__(on_func, fault_func, streams, try_interval)
+
+		self.client = Client(address, timeout)
+
+		# Explicitly connect
+		if not self.connect():
+			# hardware or infra is down -- needs fixing first
+			fault_func()
+			return
+
+		# determine namespace used
+		try:
+			if type(namespace) is str:
+				self.name_space_index = self.client.get_namespace_index(namespace)
+			elif type(namespace) is int:
+				self.name_space_index = namespace
+
+		except Exception as e:
+			#TODO remove once SDP is fixed
+			self.streams.warn_stream("Cannot determine the OPC-UA name space index.  Will try and use the default = 2.")
+			self.name_space_index = 2
+
+		self.obj = self.client.get_objects_node()
+
+	def _servername(self):
+		return self.client.server_url.geturl()
+
+	def connect(self):
+		"""
+		Try to connect to the client
+		"""
+
+		try:
+			self.streams.debug_stream("Connecting to server %s", self._servername())
+			self.client.connect()
+			self.connected = True
+			self.streams.debug_stream("Connected to %s. Initialising.", self._servername())
+			return True
+		except socket.error as e:
+			#TODO
+			self.streams.error_stream("Could not connect to server %s: %s", self._servername())
+			raise Exception("") from e
+
+
+	def disconnect(self):
+		"""
+		disconnect from the client
+		"""
+		self.connected = False  # always force a reconnect, regardless of a successful disconnect
+
+		try:
+			self.client.disconnect()
+		except Exception as e:
+			self.streams.error_stream("Disconnect from OPC-UA server %s failed: %s", self._servername(), e)
+
+	def ping(self):
+		"""
+		ping the client to make sure the connection with the client is still functional.
+		"""
+		try:
+			self.client.send_hello()
+		except Exception as e:
+			raise Exception("Lost connection to server %s: %s", self._servername(), e)
+
+	def _setup_annotation(self, annotation):
+		"""
+		This class's Implementation of the get_mapping function. returns the read and write functions
+		"""
+
+		if isinstance(annotation, dict):
+			# check if required path inarg is present
+			if annotation.get('path') is None:
+				raise Exception("OPC-ua mapping requires a path argument in the annotation, was given: %s", annotation)
+
+			path = annotation.get("path")  # required
+		elif isinstance(annotation, list):
+			path = annotation
+		else:
+			raise Exception("OPC-ua mapping requires either a list of the path or dict with the path. Was given %s type containing: %s", type(annotation), annotation)
+
+		try:
+			node = self.obj.get_child(path)
+		except Exception as e:
+			self.streams.error_stream("Could not get node: %s on server %s: %s", path, self._servername(), e)
+			raise Exception("Could not get node: %s on server %s", path, self._servername()) from e
+
+		return node
+
+	def setup_value_conversion(self, attribute):
+		"""
+		gives the client access to the attribute_wrapper object in order to access all data it could potentially need.
+		the OPC ua read/write functions require the dimensionality and the type to be known
+		"""
+
+		dim_x = attribute.dim_x
+		dim_y = attribute.dim_y
+		ua_type = numpy_to_OPCua_dict[attribute.numpy_type]	 # convert the numpy type to a corresponding UA type
+
+		return dim_x, dim_y, ua_type
+
+	def setup_attribute(self, annotation, attribute):
+		"""
+		MANDATORY function: is used by the attribute wrapper to get read/write functions. must return the read and write functions
+		"""
+
+		# process the annotation
+		node = self._setup_annotation(annotation)
+
+		# get all the necessary data to set up the read/write functions from the attribute_wrapper
+		dim_x, dim_y, ua_type = self.setup_value_conversion(attribute)
+
+		# configure and return the read/write functions
+		prot_attr = ProtocolAttribute(node, dim_x, dim_y, ua_type)
+
+		try:
+			# NOTE: debug statement tries to get the qualified name, this may not always work. in that case forgo the name and just print the path
+			node_name = str(node.get_browse_name())[len("QualifiedName(2:"):]
+			self.streams.debug_stream("connected OPC ua node {} of type {} to attribute with dimensions: {} x {} ".format(str(node_name)[:len(node_name)-1], str(ua_type)[len("VariantType."):], dim_x, dim_y))
+		except:
+			pass
+
+		# return the read/write functions
+		return prot_attr.read_function, prot_attr.write_function
+
+
+class ProtocolAttribute:
+	"""
+	This class provides a small wrapper for the OPC ua read/write functions in order to better organise the code
+	"""
+
+	def __init__(self, node, dim_x, dim_y, ua_type):
+		self.node = node
+		self.dim_y = dim_y
+		self.dim_x = dim_x
+		self.ua_type = ua_type
+
+	def read_function(self):
+		"""
+		Read_R function
+		"""
+		value = numpy.array(self.node.get_value())
+
+		if self.dim_y != 0:
+			value = numpy.array(numpy.split(value, indices_or_sections=self.dim_y))
+		else:
+			value = numpy.array(value)
+		return value
+
+	def write_function(self, value):
+		"""
+		write_RW function
+		"""
+		# set_data_value(opcua.ua.uatypes.Variant(value = value.tolist(), varianttype=opcua.ua.VariantType.Int32))
+
+		if self.dim_y != 0:
+			v = numpy.concatenate(value)
+			self.node.set_data_value(opcua.ua.uatypes.Variant(value=v.tolist(), varianttype=self.ua_type))
+
+		elif self.dim_x != 1:
+			self.node.set_data_value(opcua.ua.uatypes.Variant(value=value.tolist(), varianttype=self.ua_type))
+		else:
+			self.node.set_data_value(opcua.ua.uatypes.Variant(value=value, varianttype=self.ua_type))
+
+
+

devices/clients/test_client.py

+from src.comms_client import *
+
+# <class 'numpy.bool_'>
+
+class example_client(CommClient):
+	"""
+	this class provides an example implementation of a comms_client.
+	Durirng initialisation it creates a correctly shaped zero filled value. on read that value is returned and on write its modified.
+	"""
+
+	def start(self):
+		super().start()
+
+	def __init__(self, standby_func, fault_func, streams, try_interval=2):
+		"""
+		initialises the class and tries to connect to the client.
+		"""
+		super().__init__(standby_func, fault_func, streams, try_interval)
+
+		# Explicitly connect
+		if not self.connect():
+			# hardware or infra is down -- needs fixing first
+			fault_func()
+			return
+
+	def connect(self):
+		"""
+		this function provides a location for the code neccecary to connect to the client
+		"""
+
+		self.streams.debug_stream("the example client doesn't actually connect to anything silly")
+
+		self.connected = True	# set connected to true
+		return True		# if succesfull, return true. otherwise return false
+
+	def disconnect(self):
+		self.connected = False  # always force a reconnect, regardless of a successful disconnect
+		self.streams.debug_stream("disconnected from the 'client' ")
+
+	def _setup_annotation(self, annotation):
+		"""
+		this function gives the client access to the comm client annotation data given to the attribute wrapper.
+		The annotation data can be used to provide whatever extra data is necessary in order to find/access the monitor/control point.
+
+		the annotation can be in whatever format may be required. it is up to the user to handle its content
+		example annotation may include:
+		- a file path and file line/location
+		- COM object path
+		"""
+
+		# as this is an example, just print the annotation
+		self.streams.debug_stream("annotation: {}".format(annotation))
+
+	def _setup_value_conversion(self, attribute):
+		"""
+		gives the client access to the attribute_wrapper object in order to access all
+		necessary data such as dimensionality and data type
+		"""
+
+		if attribute.dim_y > 1:
+			dims = (attribute.dim_y, attribute.dim_x)
+		else:
+			dims = (attribute.dim_x,)
+
+		dtype = attribute.numpy_type
+
+		return dims, dtype
+
+
+	def _setup_mapping(self, dims, dtype):
+		"""
+		takes all gathered data to configure and return the correct read and write functions
+		"""
+
+		value = numpy.zeros(dims, dtype)
+
+		def read_function():
+			self.streams.debug_stream("from read_function, reading {} array of type {}".format(dims, dtype))
+			return value
+
+		def write_function(write_value):
+			self.streams.debug_stream("from write_function, writing {} array of type {}".format(dims, dtype))
+			value = write_value
+
+		self.streams.debug_stream("created and bound example_client read/write functions to attribute_wrapper object")
+		return read_function, write_function
+
+
+	def setup_attribute(self, annotation=None, attribute=None):
+		"""
+		MANDATORY function: is used by the attribute wrapper to get read/write functions.
+		must return the read and write functions
+		"""
+
+		# process the comms_annotation
+		self._setup_annotation(annotation)
+
+		# get all the necessary data to set up the read/write functions from the attribute_wrapper
+		dims, dtype = self._setup_value_conversion(attribute)
+
+		# configure and return the read/write functions
+		read_function, write_function = self._setup_mapping(dims, dtype)
+
+		# return the read/write functions
+		return read_function, write_function
+

devices/src/attribute_wrapper.py

+from tango.server import attribute
+from tango import AttrWriteType
+
+import numpy
+
+from src.wrappers import only_when_on, fault_on_error
+import logging
+logger = logging.getLogger()
+
+
+class attribute_wrapper(attribute):
+	"""
+		Wraps all the attributes in a wrapper class to manage most of the redundant code behind the scenes
+	"""
+
+	def __init__(self, comms_annotation=None, datatype=None, dims=(1,), access=AttrWriteType.READ, init_value=None, **kwargs):
+		"""
+		wraps around the tango Attribute class. Provides an easier interface for 1d or 2d arrays. Also provides a way to abstract
+		managing the communications interface.
+		"""
+
+		# ensure the type is a numpy array
+		if "numpy" not in str(datatype) and type(datatype) != str:
+			raise TypeError("Attribute needs to be a Tango-supported numpy or str type, but has type \"%s\"" % (datatype,))
+
+
+
+		self.comms_annotation = comms_annotation # store data that can be used by the comms interface. not used by the wrapper itself
+		self.numpy_type = datatype # tango changes our attribute to their representation (E.g numpy.int64 becomes "DevLong64")
+
+		self.init_value = init_value
+		max_dim_y = 0
+
+		# tango doesn't recognise numpy.str_, for consistencies sake we convert it here and hide this from the top level
+		# NOTE: discuss, idk if this is an important detail somewhere else
+		if datatype is numpy.str_:
+			datatype = str
+
+		# check if not scalar
+		if isinstance(dims, tuple):
+
+			# get first dimension
+			max_dim_x = dims[0]
+
+			# single dimension/spectrum requires the datatype to be wrapped in a tuple
+			datatype = (datatype,)
+
+			if len(dims) == 2:
+				# get second dimension
+				max_dim_y = dims[1]
+				# wrap the datatype tuple in another tuple for 2d arrays/images
+				datatype = (datatype,)
+		else:
+			# scalar, just set the single dimension
+			max_dim_x = 1
+
+
+		if access == AttrWriteType.READ_WRITE:
+			""" if the attribute is of READ_WRITE type, assign the RW and write function to it"""
+
+			@only_when_on
+			@fault_on_error
+			def read_RW(device):
+				# print("read_RW {}, {}x{}, {}, {}".format(me.name, me.dim_x, me.dim_y, me.attr_type, me.value))
+				"""
+				read_RW returns the value that was last written to the attribute
+				"""
+				try:
+					return device.value_dict[self]
+				except Exception as e:
+					raise Exception("Attribute read_RW function error, attempted to read value_dict with key: `%s`, are you sure this exists?", self) from e
+
+
+			@only_when_on
+			@fault_on_error
+			def write_RW(device, value):
+				"""
+				_write_RW writes a value to this attribute
+				"""
+				self.write_function(value)
+				device.value_dict[self] = value
+
+			self.fget = read_RW
+			self.fset = write_RW
+
+
+		else:
+			""" if the attribute is of READ type, assign the read function to it"""
+
+			@only_when_on
+			@fault_on_error
+			def read_R(device):
+				"""
+				_read_R reads the attribute value, stores it and returns it"
+				"""
+				device.value_dict[self] = self.read_function()
+				return device.value_dict[self]
+
+			self.fget = read_R
+
+		super().__init__(dtype=datatype, max_dim_y=max_dim_y, max_dim_x=max_dim_x, access=access, **kwargs)
+
+		return
+
+	def initial_value(self):
+		"""
+		returns a numpy array filled with zeroes fit to the size of the attribute. Or if init_value is not the default None, return that value
+		"""
+		if self.init_value is not None:
+			return self.init_value
+
+		if self.dim_y > 1:
+			dims = (self.dim_x, self.dim_y)
+		else:
+			dims = (self.dim_x,)
+
+		# x and y are swapped for numpy and Tango. to maintain tango conventions, x and y are swapped for numpy
+		if len(dims) == 2:
+			numpy_dims = tuple((dims[1], dims[0]))
+		else:
+			numpy_dims = dims
+
+		value = numpy.zeros(numpy_dims, dtype=self.numpy_type)
+		return value
+
+	def set_comm_client(self, client):
+		"""
+		takes a communications client as input arguments This client should be of a class containing a "get_mapping" function
+		and return a read and write function that the wrapper will use to get/set data.
+		"""
+		try:
+			self.read_function, self.write_function = client.setup_attribute(self.comms_annotation, self)
+		except Exception as e:
+			def pass_func(value=None):
+				pass
+			logger.error("setting comm_client failed. using pass function instead")
+
+			self.read_function = pass_func
+			self.write_function = pass_func
+
+			raise Exception("Exception while setting comm_client read/write functions. using pass function instead. %s") from e

devices/src/comms_client.py

+from threading import Thread
+import socket
+import time
+import numpy
+
+import opcua
+from opcua import Client
+
+from tango import DevState
+
+
+class CommClient(Thread):
+	"""
+	The ProtocolHandler class is the generic interface class between the tango attribute_wrapper and the outside world
+	"""
+
+	def __init__(self, standby_func, fault_func, streams, try_interval=2):
+		"""
+
+		"""
+		self.standby_func = standby_func
+		self.fault_func = fault_func
+		self.try_interval = try_interval
+		self.streams = streams
+		self.stopping = False
+		self.connected = False
+
+		super().__init__(daemon=True)
+
+	def connect(self):
+		"""
+		Function used to connect to the client.
+		"""
+		self.connected = True
+		return True
+
+	def disconnect(self):
+		"""
+		Function used to connect to the client.
+		"""
+		self.connected = False
+
+	def run(self):
+
+		# Explicitly connect
+		if not self.connect():
+			# hardware or infra is down -- needs fixing first
+			self.fault_func()
+			return
+
+		self.standby_func()
+
+		self.stopping = False
+		while not self.stopping:
+			# keep trying to connect
+			if not self.connected:
+				if self.connect():
+					self.standby_func()
+				else:
+					# we retry only once, to catch exotic network issues. if the infra or hardware is down,
+					# our device cannot help, and must be reinitialised after the infra or hardware is fixed.
+					self.fault_func()
+					return
+
+			# keep checking if the connection is still alive
+			try:
+				while not self.stopping:
+					self.ping()
+					time.sleep(self.try_interval)
+			except Exception as e:
+				self.streams.error_stream("Fault condition in communication detected.", e)
+
+				# technically, we may not have dropped the connection, but encounter a different error. so explicitly disconnect.
+				self.disconnect()
+
+				# signal that we're disconnected
+				self.fault_func()
+
+	def ping(self):
+		pass
+
+	def stop(self):
+		"""
+		  Stop connecting & disconnect. Can take a few seconds for the timeouts to hit.
+		"""
+
+		if not self.ident:
+			# have not yet been started, so nothing to do
+			return
+
+		self.stopping = True
+		self.join()
+
+		self.disconnect()
+
+	def setup_attribute(self, annotation, attribute):
+		"""
+		This function is responsible for providing the attribute_wrapper with a read/write function
+		How this is done is implementation specific.
+		The setup-attribute has access to the comms_annotation provided to the attribute wrapper to pass along to the comms client
+		as well as a reference to the attribute itself.
+
+		It should do this by first calling: _setup_annotation and setup_value_conversion to get all data necceacry to configure the read/write functions.
+		It should then return the read and write functions to the attribute.
+
+		MANDATORY:
+		annotation_outputs = _setup_annotation(annotation)
+		attribute_outputs = _setup_annotation(attribute)
+		(note: outputs are up to the user)
+
+		REQUIRED: provide read and write functions to return, there are no restrictions on how these should be provided,
+		except that the read function takes a single input value and the write function returns a single value
+
+		MANDATORY:
+		return read_function, write_function
+
+		Examples:
+		- File system:  get_mapping returns functions that read/write a fixed
+		number of bytes at a fixed location in a file. (SEEK)
+		- OPC-UA:  traverse the OPC-UA tree until the node is found.
+		Then return the read/write functions for that node which automatically
+		convert values between Python and OPC-UA.
+		"""
+		raise NotImplementedError("the setup_attribute must be implemented and provide return a valid read/write function for the attribute")
+
+	def _setup_annotation(self, annotation):
+		"""
+		This function is responsible for handling the annotation data provided by the attribute to configure the read/write function the client must provide.
+		This function should be called by setup_attribute
+		"""
+		raise NotImplementedError("the _setup_annotation must be implemented, content and outputs are up to the user")
+
+	def setup_value_conversion(self, attribute):
+		"""
+		this function is responsible for setting up the value conversion between the client and the attribute.
+		This function should be called by setup_attribute
+		"""
+		raise NotImplementedError("the setup_value_conversion must be implemented, content and outputs are up to the user")
+

devices/src/hardware_device.py

+# -*- coding: utf-8 -*-
+#
+# This file is part of the PCC project
+#
+#
+#
+# Distributed under the terms of the APACHE license.
+# See LICENSE.txt for more info.
+
+""" PCC Device Server for LOFAR2.0
+
+"""
+
+# PyTango imports
+from tango.server import Device, command
+from tango import DevState, DebugIt
+# Additional import
+
+from src.attribute_wrapper import *
+
+
+__all__ = ["hardware_device"]
+
+from src.wrappers import only_in_states
+
+
+class hardware_device(Device):
+	"""
+
+	**Properties:**
+
+	States are as follows:
+		INIT    = Device is initialising.
+		STANDBY = Device is initialised, but pends external configuration and an explicit turning on,
+		ON      = Device is fully configured, functional, controls the hardware, and is possibly actively running,
+		FAULT   = Device detected an unrecoverable error, and is thus malfunctional,
+		OFF     = Device is turned off, drops connection to the hardware,
+
+	The following state transitions are implemented:
+		boot -> OFF:     Triggered by tango.  Device will be instantiated,
+		OFF  -> INIT:    Triggered by device. Device will initialise (connect to hardware, other devices),
+		INIT -> STANDBY: Triggered by device. Device is initialised, and is ready for additional configuration by the user,
+		STANDBY -> ON:   Triggered by user.   Device reports to be functional,
+		* -> FAULT:      Triggered by device. Device has degraded to malfunctional, for example because the connection to the hardware is lost,
+		* -> FAULT:      Triggered by user.   Emulate a forced malfunction for integration testing purposes,
+		* -> OFF:        Triggered by user.   Device is turned off. Triggered by the Off() command,
+		FAULT -> INIT:   Triggered by user.   Device is reinitialised to recover from an error,
+
+		The user triggers their transitions by the commands reflecting the target state (Initialise(), On(), Fault()).
+	"""
+
+	@classmethod
+	def attr_list(cls):
+		""" Return a list of all the attribute_wrapper members of this class. """
+		return [v for k, v in cls.__dict__.items() if type(v) == attribute_wrapper]
+
+	def setup_value_dict(self):
+		""" set the initial value for all the attribute wrapper objects"""
+
+		self.value_dict = {i: i.initial_value() for i in self.attr_list()}
+
+	def init_device(self):
+		""" Instantiates the device in the OFF state. """
+
+		# NOTE: Will delete_device first, if necessary
+		Device.init_device(self)
+
+		self.set_state(DevState.OFF)
+
+	# --------
+	# Commands
+	# --------
+
+	@command()
+	@only_in_states([DevState.FAULT, DevState.OFF])
+	@DebugIt()
+	def Initialise(self):
+		"""
+		Command to ask for initialisation of this device. Can only be called in FAULT or OFF state.
+
+		:return:None
+		"""
+		self.set_state(DevState.INIT)
+		self.setup_value_dict()
+
+
+		self.initialise()
+
+	@only_in_states([DevState.INIT])
+	def Standby(self):
+		"""
+		Command to ask for initialisation of this device. Can only be called in FAULT or OFF state.
+
+		:return:None
+		"""
+
+		self.standby()
+		self.set_state(DevState.STANDBY)
+
+	@command()
+	@only_in_states([DevState.STANDBY])
+	@DebugIt()
+	def On(self):
+		"""
+		Command to ask for initialisation of this device. Can only be called in FAULT or OFF state.
+
+		:return:None
+		"""
+		self.on()
+		self.set_state(DevState.ON)
+
+	@command()
+	@DebugIt()
+	def Off(self):
+		"""
+		Command to ask for shutdown of this device.
+
+		:return:None
+		"""
+		if self.get_state() == DevState.OFF:
+			# Already off. Don't complain.
+			return
+
+		# Turn off
+		self.set_state(DevState.OFF)
+
+		self.off()
+
+		# Turn off again, in case of race conditions through reconnecting
+		self.set_state(DevState.OFF)
+
+	@command()
+	@only_in_states([DevState.ON, DevState.INIT, DevState.STANDBY])
+	@DebugIt()
+	def Fault(self):
+		"""
+		FAULT state is used to indicate our connection with the OPC-UA server is down.
+
+		This device will try to reconnect once, and transition to the ON state on success.
+
+		If reconnecting fails, the user needs to call Initialise() to retry to restart this device.
+
+		:return:None
+		"""
+		self.fault()
+		self.set_state(DevState.FAULT)
+
+
+	# functions that can be overloaded
+	def fault(self):
+		pass
+	def off(self):
+		pass
+	def on(self):
+		pass
+	def standby(self):
+		pass
+	def initialise(self):
+		pass
+
+	def always_executed_hook(self):
+		"""Method always executed before any TANGO command is executed."""
+		pass
+
+	def delete_device(self):
+		"""Hook to delete resources allocated in init_device.
+
+		This method allows for any memory or other resources allocated in the
+		init_device method to be released.  This method is called by the device
+		destructor and by the device Init command (a Tango built-in).
+		"""
+		self.debug_stream("Shutting down...")
+
+		self.Off()
+		self.debug_stream("Shut down.  Good bye.")

devices/src/wrappers.py

+from tango import DevState, Except
+from functools import wraps
+import traceback
+
+__all__ = ["only_in_states", "only_when_on", "fault_on_error"]
+
+def only_in_states(allowed_states):
+    """
+      Wrapper to call and return the wrapped function if the device is
+      in one of the given states. Otherwise a PyTango exception is thrown.
+    """
+    def wrapper(func):
+        @wraps(func)
+        def state_check_wrapper(self, *args, **kwargs):
+            if self.get_state() in allowed_states:
+                return func(self, *args, **kwargs)
+
+            self.warn_stream("Illegal command: Function %s can only be called in states %s. Current state: %s" % (func.__name__, allowed_states, self.get_state()))
+            Except.throw_exception("IllegalCommand", "Function can only be called in states %s. Current state: %s" % (allowed_states, self.get_state()), func.__name__)
+
+        return state_check_wrapper
+
+    return wrapper
+
+def only_when_on(func):
+    """
+      Wrapper to call and return the wrapped function if the device is
+      in the ON state. Otherwise None is returned and nothing
+      will be called.
+    """
+    @wraps(func)
+    def when_on_wrapper(self, *args, **kwargs):
+        if self.get_state() == DevState.ON:
+            return func(self, *args, **kwargs)
+
+        return None
+
+    return when_on_wrapper
+
+def fault_on_error(func):
+    """
+      Wrapper to catch exceptions. Sets the device in a FAULT state if any occurs.
+    """
+    @wraps(func)
+    def error_wrapper(self, *args, **kwargs):
+        try:
+            return func(self, *args, **kwargs)
+        except Exception as e:
+            self.error_stream("Function failed.  Trace: %s", traceback.format_exc())
+            self.Fault()
+            return None
+
+    return error_wrapper

devices/test_device.py

+# -*- coding: utf-8 -*-
+#
+# This file is part of the PCC project
+#
+#
+#
+# Distributed under the terms of the APACHE license.
+# See LICENSE.txt for more info.
+
+""" PCC Device Server for LOFAR2.0
+
+"""
+
+# PyTango imports
+from tango.server import run
+from tango.server import device_property
+from tango import DevState
+# Additional import
+
+from clients.test_client import example_client
+from src.attribute_wrapper import *
+from src.hardware_device import *
+
+__all__ = ["test_device", "main"]
+
+
+class test_device(hardware_device):
+
+	# -----------------
+	# Device Properties
+	# -----------------
+
+	OPC_Server_Name = device_property(
+		dtype='DevString',
+	)
+
+	OPC_Server_Port = device_property(
+		dtype='DevULong',
+	)
+
+	OPC_Time_Out = device_property(
+		dtype='DevDouble',
+	)
+
+	# ----------
+	# Attributes
+	# ----------
+	bool_scalar_R = attribute_wrapper(comms_annotation="numpy.bool_ type read scalar", datatype=numpy.bool_)
+	bool_scalar_RW = attribute_wrapper(comms_annotation="numpy.bool_ type read/write scalar", datatype=numpy.bool_, access=AttrWriteType.READ_WRITE)
+
+	int64_spectrum_R = attribute_wrapper(comms_annotation="numpy.int64 type read spectrum (len = 8)", datatype=numpy.int64, dims=(8,))
+	str_spectrum_RW = attribute_wrapper(comms_annotation="numpy.str type read/write spectrum (len = 8)", datatype=numpy.str_, dims=(8,), access=AttrWriteType.READ_WRITE)
+
+	double_image_R = attribute_wrapper(comms_annotation="numpy.double type read image (dims = 2x8)", datatype=numpy.double, dims=(2, 8))
+	double_image_RW = attribute_wrapper(comms_annotation="numpy.double type read/write image (dims = 8x2)", datatype=numpy.double, dims=(8, 2), access=AttrWriteType.READ_WRITE)
+
+	int32_scalar_R = attribute_wrapper(comms_annotation="numpy.int32 type read scalar", datatype=numpy.int32)
+	uint16_spectrum_RW = attribute_wrapper(comms_annotation="numpy.uint16 type read/write spectrum (len = 8)", datatype=numpy.uint16, dims=(8,), access=AttrWriteType.READ_WRITE)
+	float32_image_R = attribute_wrapper(comms_annotation="numpy.float32 type read image (dims = 8x2)", datatype=numpy.float32, dims=(8, 2))
+	uint8_image_RW = attribute_wrapper(comms_annotation="numpy.uint8 type read/write image (dims = 2x8)", datatype=numpy.uint8, dims=(2, 8), access=AttrWriteType.READ_WRITE)
+
+	# --------
+	# overloaded functions
+	# --------
+	def initialise(self):
+		""" user code here. is called when the sate is set to INIT """
+		"""Initialises the attributes and properties of the PCC."""
+
+		self.set_state(DevState.INIT)
+
+
+		#set up the OPC ua client
+		self.example_client = example_client(self.Standby, self.Fault, self)
+
+		# map an access helper class
+		for i in self.attr_list():
+			i.set_comm_client(self.example_client)
+
+
+		self.example_client.start()
+
+# ----------
+# Run server
+# ----------
+def main(args=None, **kwargs):
+	"""Main function of the example module."""
+	return run((test_device,), args=args, **kwargs)
+
+
+if __name__ == '__main__':
+	main()

docker-compose/Makefile

@@ -114,6 +114,8 @@ pull: ## pull the images from the Docker hub
 	$(DOCKER_COMPOSE_ARGS) docker-compose $(COMPOSE_FILE_ARGS) pull
 
 build: ## rebuild images
+	# docker-compose does not support build dependencies, so manage those here
+	$(DOCKER_COMPOSE_ARGS) docker-compose -f lofar-device-base.yml build
 	$(DOCKER_COMPOSE_ARGS) docker-compose $(COMPOSE_FILE_ARGS) build
 
 up: minimal  ## start the base TANGO system and prepare all services
@@ -144,6 +146,9 @@ attach:  ## attach a service to an existing Tango network
 status:  ## show the container status
 	$(DOCKER_COMPOSE_ARGS) docker-compose $(COMPOSE_FILE_ARGS) ps
 
+images:  ## show the container images
+	$(DOCKER_COMPOSE_ARGS) docker-compose $(COMPOSE_FILE_ARGS) images
+
 clean: down  ## clear all TANGO database entries
 	docker volume rm $(BASEDIR)_tangodb
 

docker-compose/device-pcc.yml

+#
+# Docker compose file that launches an interactive iTango session.
+#
+# Connect to the interactive session with 'docker attach itango'.
+# Disconnect with the Docker deattach sequence: <CTRL>+<P> <CTRL>+<Q>
+#
+# Defines:
+#   - itango: iTango interactive session
+#
+# Requires:
+#   - lofar-device-base.yml
+#
+version: '2'
+
+services:
+  device-pcc:
+    image: lofar-device-base
+    container_name: ${CONTAINER_NAME_PREFIX}device-pcc
+    network_mode: ${NETWORK_MODE}
+    volumes:
+        - ${TANGO_LOFAR_CONTAINER_MOUNT}
+    environment:
+      - TANGO_HOST=${TANGO_HOST}
+    entrypoint:
+      - /usr/local/bin/wait-for-it.sh
+      - ${TANGO_HOST}
+      - --timeout=30
+      - --strict
+      - --
+      - python3 -u ${TANGO_LOFAR_CONTAINER_DIR}/PCC/PCC LTS -v
+    restart: on-failure

docker-compose/device-sdp.yml

+#
+# Docker compose file that launches an interactive iTango session.
+#
+# Connect to the interactive session with 'docker attach itango'.
+# Disconnect with the Docker deattach sequence: <CTRL>+<P> <CTRL>+<Q>
+#
+# Defines:
+#   - itango: iTango interactive session
+#
+# Requires:
+#   - lofar-device-base.yml
+#
+version: '2'
+
+services:
+  device-sdp:
+    image: lofar-device-base
+    container_name: ${CONTAINER_NAME_PREFIX}device-sdp
+    network_mode: ${NETWORK_MODE}
+    volumes:
+        - ${TANGO_LOFAR_CONTAINER_MOUNT}
+    environment:
+      - TANGO_HOST=${TANGO_HOST}
+    entrypoint:
+      - /usr/local/bin/wait-for-it.sh
+      - ${TANGO_HOST}
+      - --timeout=30
+      - --strict
+      - --
+      - python3 -u ${TANGO_LOFAR_CONTAINER_DIR}/SDP/SDP LTS -v
+    restart: on-failure