Tango fixes and update core and tango tests to match structure of epics tests (#723)

Run Tango test context in subprocess to get around forking, support Tango tests on Windows

Add converters for DevState and DevEnum Tango signals

Add example one of everything Tango server providing every attribute and command type

Fix Tango trls for children provided by remote tango servers with #dbase=no

Add DevStateEnum StrictEnum for use with TangoSignals

Use MonitorQueue from ophyd_async.testing in soft, epics and tango signal tests

Remove ability to create Tango signal, backend or device from existing DeviceProxy, require trl

Make assert_reading diff output cleaner when alarm_severity or timestamp not given

Author: jsouter

pyproject.toml

@@ -187,7 +187,8 @@ type = "forbidden"
 forbidden_modules = ["ophyd_async.testing", "ophyd_async.sim"]
 source_modules = [
     "ophyd_async.plan_stubs",
-    "ophyd_async.fastcs",
-    "ophyd_async.epics",
-    "ophyd_async.tango",
+    "ophyd_async.fast.*",
+    "ophyd_async.epics.*",
+    "ophyd_async.tango.*",
 ]
+ignore_imports = ["ophyd_async.tango.testing.* -> ophyd_async.testing"]

src/ophyd_async/epics/testing/test_records_pva.db

@@ -1,36 +1,37 @@
 record(waveform, "$(device)int8a") {
-  field(NELM, "3")
+  field(NELM, "7")
   field(FTVL, "CHAR")
-  field(INP, {const:[-128, 127]})
+  field(INP, {const:[-128, 127, 0, 1, 2, 3, 4]})
   field(PINI, "YES")
 }
 
 record(waveform, "$(device)uint16a") {
-  field(NELM, "3")
+  field(NELM, "7")
   field(FTVL, "USHORT")
-  field(INP, {const:[0, 65535]})
+  field(INP, {const:[0, 65535, 0, 1, 2, 3, 4]})
   field(PINI, "YES")
 }
 
 record(waveform, "$(device)uint32a") {
-  field(NELM, "3")
+  field(NELM, "7")
   field(FTVL, "ULONG")
-  field(INP, {const:[0, 4294967295]})
+  field(INP, {const:[0, 4294967295, 0, 1, 2, 3, 4]})
   field(PINI, "YES")
 }
 
 record(waveform, "$(device)int64a") {
-  field(NELM, "3")
+  field(NELM, "7")
   field(FTVL, "INT64")
-  # Can't do 64-bit int with JSON numbers in a const link...
-  field(INP, {const:[-2147483649, 2147483648]})
+  # limit of range appears to be +/-(2^63 - 1)
+  field(INP, {const:[-9223372036854775807, 9223372036854775807, 0, 1, 2, 3, 4]})
   field(PINI, "YES")
 }
 
 record(waveform, "$(device)uint64a") {
-  field(NELM, "3")
+  field(NELM, "7")
   field(FTVL, "UINT64")
-  field(INP, {const:[0, 4294967297]})
+  # limit of range appears to be 0 to +(2^63 - 1)
+  field(INP, {const:[0, 9223372036854775807, 0, 1, 2, 3, 4]})
   field(PINI, "YES")
 }
 

src/ophyd_async/tango/core/__init__.py

@@ -19,10 +19,12 @@
     get_tango_trl,
     get_trl_descriptor,
 )
+from ._utils import DevStateEnum, get_device_trl_and_attr, get_full_attr_trl
 
 __all__ = [
     "AttributeProxy",
     "CommandProxy",
+    "DevStateEnum",
     "ensure_proper_executor",
     "TangoSignalBackend",
     "get_python_type",
@@ -40,4 +42,6 @@
     "TangoReadable",
     "TangoPolling",
     "TangoDeviceConnector",
+    "get_device_trl_and_attr",
+    "get_full_attr_trl",
 ]

src/ophyd_async/tango/core/_base_device.py

@@ -8,6 +8,7 @@
 from tango.asyncio import DeviceProxy as AsyncDeviceProxy
 
 from ._signal import TangoSignalBackend, infer_python_type, infer_signal_type
+from ._utils import get_full_attr_trl
 
 T = TypeVar("T")
 
@@ -18,9 +19,7 @@ class TangoDevice(Device):
     Extends Device to provide attributes for Tango devices.
 
     :param trl: Tango resource locator, typically of the device server.
-    :param device_proxy:
-        Asynchronous or synchronous DeviceProxy object for the device. If not
-        provided, an asynchronous DeviceProxy object will be created using the
+        An asynchronous DeviceProxy object will be created using the
         trl and awaited when the device is connected.
     """
 
@@ -29,15 +28,13 @@ class TangoDevice(Device):
 
     def __init__(
         self,
-        trl: str | None = None,
-        device_proxy: DeviceProxy | None = None,
+        trl: str | None,
         support_events: bool = False,
         name: str = "",
         auto_fill_signals: bool = True,
     ) -> None:
         connector = TangoDeviceConnector(
             trl=trl,
-            device_proxy=device_proxy,
             support_events=support_events,
             auto_fill_signals=auto_fill_signals,
         )
@@ -75,12 +72,10 @@ class TangoDeviceConnector(DeviceConnector):
     def __init__(
         self,
         trl: str | None,
-        device_proxy: DeviceProxy | None,
         support_events: bool,
         auto_fill_signals: bool = True,
     ) -> None:
         self.trl = trl
-        self.proxy = device_proxy
         self._support_events = support_events
         self._auto_fill_signals = auto_fill_signals
 
@@ -90,7 +85,7 @@ def create_children_from_annotations(self, device: Device):
                 device=device,
                 signal_backend_factory=TangoSignalBackend,
                 device_connector_factory=lambda: TangoDeviceConnector(
-                    None, None, self._support_events
+                    None, self._support_events
                 ),
             )
             list(self.filler.create_devices_from_annotations(filled=False))
@@ -108,13 +103,9 @@ async def connect_mock(self, device: Device, mock: LazyMock):
         return await super().connect_mock(device, mock)
 
     async def connect_real(self, device: Device, timeout: float, force_reconnect: bool):
-        if self.trl and self.proxy is None:
-            self.proxy = await AsyncDeviceProxy(self.trl)
-        elif self.proxy and not self.trl:
-            self.trl = self.proxy.name()
-        else:
-            raise TypeError("Neither proxy nor trl supplied")
-
+        if not self.trl:
+            raise RuntimeError(f"Could not created Device Proxy for TRL {self.trl}")
+        self.proxy = await AsyncDeviceProxy(self.trl)
         children = sorted(
             set()
             .union(self.proxy.get_attribute_list())
@@ -132,11 +123,13 @@ async def connect_real(self, device: Device, timeout: float, force_reconnect: bo
         for name in children:
             if self._auto_fill_signals or name in not_filled:
                 # TODO: strip attribute name
-                full_trl = f"{self.trl}/{name}"
+                full_trl = get_full_attr_trl(self.trl, name)
                 signal_type = await infer_signal_type(full_trl, self.proxy)
                 if signal_type:
                     backend = self.filler.fill_child_signal(name, signal_type)
-                    backend.datatype = await infer_python_type(full_trl, self.proxy)
+                    # don't overlaod datatype if provided by annotation
+                    if backend.datatype is None:
+                        backend.datatype = await infer_python_type(full_trl, self.proxy)
                     backend.set_trl(full_trl)
 
         # Check that all the requested children have been filled

src/ophyd_async/tango/core/_converters.py

@@ -0,0 +1,81 @@
+from typing import Any, Generic
+
+import numpy as np
+from numpy.typing import NDArray
+
+from ophyd_async.core import (
+    SignalDatatypeT,
+)
+from tango import (
+    DevState,
+)
+
+from ._utils import DevStateEnum
+
+
+class TangoConverter(Generic[SignalDatatypeT]):
+    def write_value(self, value: Any) -> Any:
+        return value
+
+    def value(self, value: Any) -> Any:
+        return value
+
+
+class TangoEnumConverter(TangoConverter):
+    def __init__(self, labels: list[str]):
+        self._labels = labels
+
+    def write_value(self, value: str):
+        if not isinstance(value, str):
+            raise TypeError("TangoEnumConverter expects str value")
+        return self._labels.index(value)
+
+    def value(self, value: int):
+        return self._labels[value]
+
+
+class TangoEnumArrayConverter(TangoConverter):
+    def __init__(self, labels: list[str]):
+        self._labels = labels
+
+    def write_value(self, value: NDArray[np.str_]) -> NDArray[np.integer]:
+        vfunc = np.vectorize(self._labels.index)
+        new_array = vfunc(value)
+        return new_array
+
+    def value(self, value: NDArray[np.integer]) -> NDArray[np.str_]:
+        vfunc = np.vectorize(self._labels.__getitem__)
+        new_array = vfunc(value)
+        return new_array
+
+
+class TangoDevStateConverter(TangoConverter):
+    _labels = [e.value for e in DevStateEnum]
+
+    def write_value(self, value: str) -> DevState:
+        idx = self._labels.index(value)
+        return DevState(idx)
+
+    def value(self, value: DevState) -> str:
+        idx = int(value)
+        return self._labels[idx]
+
+
+class TangoDevStateArrayConverter(TangoConverter):
+    _labels = [e.value for e in DevStateEnum]
+
+    def _write_convert(self, value):
+        return DevState(self._labels.index(value))
+
+    def _convert(self, value):
+        return self._labels[int(value)]
+
+    def write_value(self, value: NDArray[np.str_]) -> NDArray[DevState]:
+        vfunc = np.vectorize(self._write_convert, otypes=[DevState])
+        new_array = vfunc(value)
+        return new_array
+
+    def value(self, value: NDArray[DevState]) -> NDArray[np.str_]:
+        vfunc = np.vectorize(self._convert)
+        new_array = vfunc(value)
+        return new_array

src/ophyd_async/tango/core/_signal.py

@@ -27,6 +27,7 @@
 from tango.asyncio import DeviceProxy as AsyncDeviceProxy
 
 from ._tango_transport import TangoSignalBackend, get_python_type
+from ._utils import get_device_trl_and_attr
 
 logger = logging.getLogger("ophyd_async")
 
@@ -35,16 +36,14 @@ def make_backend(
     datatype: type[SignalDatatypeT] | None,
     read_trl: str = "",
     write_trl: str = "",
-    device_proxy: DeviceProxy | None = None,
 ) -> TangoSignalBackend:
-    return TangoSignalBackend(datatype, read_trl, write_trl, device_proxy)
+    return TangoSignalBackend(datatype, read_trl, write_trl)
 
 
 def tango_signal_rw(
     datatype: type[SignalDatatypeT],
     read_trl: str,
     write_trl: str = "",
-    device_proxy: DeviceProxy | None = None,
     timeout: float = DEFAULT_TIMEOUT,
     name: str = "",
 ) -> SignalRW[SignalDatatypeT]:
@@ -58,22 +57,19 @@ def tango_signal_rw(
         The Attribute/Command to read and monitor
     write_trl:
         If given, use this Attribute/Command to write to, otherwise use read_trl
-    device_proxy:
-        If given, this DeviceProxy will be used
     timeout:
         The timeout for the read and write operations
     name:
         The name of the Signal
 
     """
-    backend = make_backend(datatype, read_trl, write_trl or read_trl, device_proxy)
+    backend = make_backend(datatype, read_trl, write_trl or read_trl)
     return SignalRW(backend, timeout=timeout, name=name)
 
 
 def tango_signal_r(
     datatype: type[SignalDatatypeT],
     read_trl: str,
-    device_proxy: DeviceProxy | None = None,
     timeout: float = DEFAULT_TIMEOUT,
     name: str = "",
 ) -> SignalR[SignalDatatypeT]:
@@ -85,22 +81,19 @@ def tango_signal_r(
         Check that the Attribute/Command is of this type
     read_trl:
         The Attribute/Command to read and monitor
-    device_proxy:
-        If given, this DeviceProxy will be used
     timeout:
         The timeout for the read operation
     name:
         The name of the Signal
 
     """
-    backend = make_backend(datatype, read_trl, read_trl, device_proxy)
+    backend = make_backend(datatype, read_trl, read_trl)
     return SignalR(backend, timeout=timeout, name=name)
 
 
 def tango_signal_w(
     datatype: type[SignalDatatypeT],
     write_trl: str,
-    device_proxy: DeviceProxy | None = None,
     timeout: float = DEFAULT_TIMEOUT,
     name: str = "",
 ) -> SignalW[SignalDatatypeT]:
@@ -112,21 +105,18 @@ def tango_signal_w(
         Check that the Attribute/Command is of this type
     write_trl:
         The Attribute/Command to write to
-    device_proxy:
-        If given, this DeviceProxy will be used
     timeout:
         The timeout for the write operation
     name:
         The name of the Signal
 
     """
-    backend = make_backend(datatype, write_trl, write_trl, device_proxy)
+    backend = make_backend(datatype, write_trl, write_trl)
     return SignalW(backend, timeout=timeout, name=name)
 
 
 def tango_signal_x(
     write_trl: str,
-    device_proxy: DeviceProxy | None = None,
     timeout: float = DEFAULT_TIMEOUT,
     name: str = "",
 ) -> SignalX:
@@ -136,15 +126,13 @@ def tango_signal_x(
     ----------
     write_trl:
         The Attribute/Command to write its initial value to on execute
-    device_proxy:
-        If given, this DeviceProxy will be used
     timeout:
         The timeout for the command operation
     name:
         The name of the Signal
 
     """
-    backend = make_backend(None, write_trl, write_trl, device_proxy)
+    backend = make_backend(None, write_trl, write_trl)
     return SignalX(backend, timeout=timeout, name=name)
 
 
@@ -153,7 +141,7 @@ async def infer_python_type(
 ) -> object | npt.NDArray | type[DevState] | IntEnum:
     """Infers the python type from the TRL."""
     # TODO: work out if this is still needed
-    device_trl, tr_name = trl.rsplit("/", 1)
+    device_trl, tr_name = get_device_trl_and_attr(trl)
     if proxy is None:
         dev_proxy = await AsyncDeviceProxy(device_trl)
     else:
@@ -182,7 +170,7 @@ async def infer_python_type(
 async def infer_signal_type(
     trl, proxy: DeviceProxy | None = None
 ) -> type[Signal] | None:
-    device_trl, tr_name = trl.rsplit("/", 1)
+    device_trl, tr_name = get_device_trl_and_attr(trl)
     if proxy is None:
         dev_proxy = await AsyncDeviceProxy(device_trl)
     else: