V4 CA Protocol Specification

EPICS Channel Access Protocol Specification

EPICS Version: 4

Channel Access Protocol Version: 4.15

Author: Jeff Hill

LA-UR-05-8238

Data Types

• All multi-octet primitive types are transmitted in little endian byte order.
• All signed integers use two's complement arithmetic.
• All floating point numbers shall comply with IEEE floating point standards.

Externally Visible Data Types

Mnemonic	Data Type	Identifier
	reserved	0
INT8	8 bit signed integer	1
INT16	16 bit signed integer	2
INT32	32 bit signed integer	3
INT64	64 bit signed integer	4
FLOAT32	32 bit IEEE floating point	5
FLOAT64	64 bit IEEE floating point	6
FLOAT128	128 bit IEEE floating point	7
STRING	UTF-8 encoded character string	8
PSD	property sequence description	9
	reserved	10 - 128

Protocol Private Data Types

Mnemonic	Data Type
UINT8	8 bit unsigned integer
UNIT16	16 bit unsigned integer
UINT32	32 bit unsigned integer
UINT64	64 bit unsigned integer
UINTN	variable length unsigned integer
PTD	property transport definition
DSD	dimension sequence description
DBD	dimension bounds definition
ADB	array dimension bound

UINTN, Variable Length Unsigned Integer

The octets below are in little endian order (least significant bits are transmitted before most significant bits).

UINTN - 1 octet

Data Type	Bit 7, msb	Bits 7 - 0
OCTET	0	Bits 0-7 of unsigned integer value

UINTN - 2 octets

Data Type	Bit 7, msb	Bits 7 - 0
OCTET	1	Bits 0-7 of unsigned integer value
OCTET	0	Bits 8-15 of unsigned integer value

UINTN - 3 octets

Data Type	Bit 7, msb	Bits 7 - 0
OCTET	1	Bits 0-7 of unsigned integer value
OCTET	1	Bits 8-15 of unsigned integer value
OCTET	0	Bits 16-23 of unsigned integer value

After 3 octets, the same pattern repeats.

UINTN - N octets

Data Type	msb	Bits 7 - 0
OCTET	1	Bits 0-7 of unsigned integer value
OCTET	1	Bits 8-15 of unsigned integer value
OCTET	1	Bits 16-23 of unsigned integer value
...	1	...
OCTET N	0	Bits N*8-N*9-1 of unsigned integer value

STRING, UTF-8 Encoded Character String

STRING

Data Type	Purpose
UINTN	the number of UTF-8 tokens
OCTET sequence	UTF-8 encoded character string sequence

Nill (zero) termination is not included in the string.

PSD, Property Sequence Description

This data type is used to describe a packed sequence of property values, a property sequence (PS), that might be encapsulated within a subsequent message on the same circuit, or in the same datagram. The order that the properties are described in the sequence is exactly the same as the order that the properties will be pushed onto the wire.

Container Property Transport Sequence Description

Data Type	Purpose
UINTN	Number of properties in sequence
N Property transport definitions	See below

PTD, Property Transport Definition

If the dimension field is zero then property bounds definitions are not included, and the property transported has a scalar representation.

Property Transport Definition - Atomic

Data Type	Purpose	Value
UINTN	Property Id	Sender defined
UINTN	Data Type Identifier	Sender defined, not 9
DSD	Dimension sequence description	Sender defined

Property Transport Definition - Container

Data Type	Purpose	Value
UINTN	Property Id	Sender defined
UINTN	Data Type Identifier	9
DSD	Dimension sequence description	Sender defined
PSD	Property sequence description	Sender defined

DSD, Dimension Sequence Description

Scalar Dimension Sequence

Data Type	Purpose	Value
UINTN	Specifies that the data is scalar	0

Array Dimension Sequence

Data Type	Purpose	Value
UINTN	Specifies the number of property bounds definitions for array data	N, not zero
N X DBD	sequence of N property bounds definitions	Sender defined

DBD, Dimension Bounds Definition

Property Bounds Definition, Fixed Bound

Data Type	Purpose	Value
UINTN	Bound Type	0, fixed bound
ADB	Array dimension bound	Sender defined

Property Bounds Definition, Variable Bound

Data Type	Purpose	Value
UINTN	Bound Type	1, variable bound

Packaging of arrays on the wire

If the bound type is fixed, then the dimension does not accompany the array data on the wire. If the bound type is variable then any variable dimension information immediately precedes the data on the wire. The order that any dynamic dimensions are described in the dimension sequence description (DSD) is exactly the same order that any dynamic array dimension bound (ADB) will be pushed on to the wire prior to pushing the array data sequence on to the wire.

ADB, Array Dimension Bound

Array Dimension Bound

Data Type	Purpose	Value
UINTN	First element index	Sender defined
UINTN	Element count	Sender defined

Property Hierarchy Path

<property hierarchy path> := <optional white space> . <optional white space> <property name> <optional white space> [ <property hierarchy path> ]

A "." character is employed to separate components of the property hierarchy path. Should the user need to include the "." in a channel name, they can escape the "." character with a back slash "\" character.

Channel

A channel is defined to be a virtual communication path from a client application to a communication receptacle in a service. The communication receptacle is either a process variable or a message passing interface.

Channel Names

Flat (hierarchy challenged) tools like caGet will need to access a property deeply embedded in the property hierarchy as a simple PV.

Therefore, channel names will have the following format.

<communication receptacle name> [ <property hierarchy path> ]

This syntax may clash with the current state of the version 4 database design.

Message Transport

The protocol is designed for transport via a full duplex octet stream circuit such as is offered by TCP/IP. Clients initiate circuits with servers. All clients and servers initiating a new outgoing octet stream circuit must insert, prior to any other message, a CA Protocol Initiate message. Certain requests (see documentation for each request) will also be suitable for datagram transport such as is offered by UDP/IP. The CA Protocol Initiate message must be the first message in any CA protocol datagram prior to any other message in the datagram.

The protocol is asynchronous, and therefore multiple requests can be outstanding (waiting for a response) at the same time. It is expected that quality implementations will combine several messages together into one network frame.

CA Protocol Initiate

This message overlays a similar purposed message employed by previous versions of the protocol thereby retaining potential for client and server libraries to, at runtime, choose between dispatch tables suitable to different protocol revisions. This allows client and server libraries to communicate with multiple peers using both the EPICS version 3 and the EPICS version 4 protocols.

There is no response to this message.

CA Protocol Initiate

Data Type	Purpose	Value
UINT16	reserved	0
UINT16	reserved	0
UINT16	requested server dispatch priority where 0 is the lowest priority (executes last) and 255 is the highest priority (executes first), all other values are reserved	clients servers 0 - 255 0
UINT16	protocol minor revision number	15
UINT32	magic number	0x5b43415d == '[' 'C' 'A' ']'
UNIT32	Reserved for virtual circuits. A sequence number incrementing with each successive message for datagrams. Clients use this sequence number to detect duplicates and out of order delivery.	circuit datagram 0 sequence number

The dispatch priority protocol element is relevant only when a client initiates communication with a server. Servers do not request a dispatch priority within its client, and should set this field to zero.

Request / Response Protocol

Request Messages

Request messages are transmitted only by clients. Servers do not transmit request messages. There are two request message forms depending on whether a response is possible, or not.

Request Message - Response is Possible

Data Type	Purpose	Value
UINTN	Request identifier	client defined
OBJID	Request identifier	client defined, 0 - 31 reserved
OCTETS	Request payload	request dependent

Request Message - No Response

Data Type	Purpose	Value
UINTN	Request identifier	client defined
OCTETS	Request payload	request dependent

Response Messages

Response messages are transmitted only by servers. Clients do not transmit response messages.

Solicited Response Messages

Success Response

Data Type	Purpose	Value
UINTN	request identifier	request defined
OCTETS	response payload	request dependent

Unsolicited, or Indirectly Solicited, Response Messages

Exception Response

This indirectly solicited response is sent when a request fails in the server.

Exception Response

Data Type	Purpose	Value
UINTN	Request identifier	0
UINTN	Exception identifier	failure dependent, see below
STRING	Failure context message	failure dependent
UINTN	Copy of request message length	N, request defined, but zero if failure not caused by a request
N OCTETS	Copy of request message	request defined

Exception Identifier

Status Value	Definition	Severity
0	Insufficient memory to complete request	Warning
1	Invalid request identifier	Fatal
2	Invalid channel name	Warning
3	Invalid channel identifier	Fatal
4	Invalid property identifier	Fatal
5	Invalid property transport sequence identifier	Fatal
...

Server Status Beacon

This request is sent by a server to announce periodically its presence, and availability, on the network. This request might be sent over a virtual circuit, or in a datagram. There is no response. The property transport sequence might be predefined at compile time. It is used to identify the server address (including possibly a TCP port) of the sender, and other (possibly site specific) server state variables.

Server Status Beacon

Data Type	Purpose	Value
UINTN	Request identifier	1
UINTN	Property sequence identifier	Sender Defined
PS	Server status parameters	Sender Defined

Protocol Encapsulation

Data Type	Purpose	Value
UINTN	Directive	0
UINTN	Encoding	TBD, but to include an unmodified encoding and at least one standard type of compression encoding
UINTN	Length	N, compressed protocol sequence length
N OCTETS	Encapsulated protocol octet sequence	Sender defined, format determined by encoding

The maximum size of an encapsulation probably needs to be specified.

Compression will be useful only when fast computers communicate or relatively slow links.

Define Channel

The client defines a channel in the server for its future use. There is no response unless the request is invalid, or cant be completed.

If at any time a communication endpoint to which a channel is bound ceases to exist, the server must send an Invalid channel identifier exception responses to all of the appropriate clients indicating that their channel is attached to a defunct resource. After receiving the Invalid channel identifier exception the client library is no-longer required to close the relevant channel with the server.

Define Channel Request

Data Type	Purpose	Value
UINTN	Directive	1
UINTN	Channel Identifier	Sender defined
STRING	Channel Name	Sender defined

Expunge Channel

The client must expunge any channel from the server that will no-longer be used.

Expunge Channel Request

Data Type	Purpose	Value
UINTN	Directive
UINTN	Channel Identifier	Sender defined

Swap Channel Identifiers

Commands the server to assign the process variable associated with channel identifier one to channel underived two and visa-versa. This functionality allows implementation to dynamically adjust frequently used objects to use smaller integer identifiers, and therefore smaller on-the-wire representations.

Swap Channel Identifiers Request

Data Type	Purpose	Value
UINTN	Directive
UINTN	Request identifier	Sender defined
UINTN	Channel Identifier one	Sender defined
UINTN	Channel Identifier two	Sender defined

Swap Channel Identifiers Successful Response

Data Type	Purpose	Value
UINTN	Request identifier	Client defined

Define Property

The client defines a property in the server for its future use. There is no response unless the request is invalid, or cant be completed. Commonly used properties, especially those used by datagram services, will be predefined thereby avoiding any need to define the property before it is used.

Define Property Request

Data Type	Purpose	Value
UINTN	Directive	2
UINTN	Property identifier	Sender defined
STRING	Property name	Sender defined

Expunge Property

The client must expunge any property from the server that will no-longer be used.

Expunge Property Request

Data Type	Purpose	Value
UINTN	Directive
UINTN	Property Identifier	Sender defined

Swap Property Identifiers

Commands the server to assign the property associated with property identifier one to property underived two and visa-versa. This functionality allows implementation to dynamically adjust frequently used objects to use smaller integer identifiers, and therefore smaller on-the-wire representations.

Swap Property Identifiers Request

Data Type	Purpose	Value
UINTN	Directive
UINTN	Request identifier	Sender defined
UINTN	Property Identifier one	Sender defined
UINTN	Property Identifier two	Sender defined

Swap Property Identifiers Successful Response

Data Type	Purpose	Value
UINTN	Request identifier	Client defined

Define Property Transport Sequence

The client defines a property transport sequence in the server for its future use. A property transport sequence exactly describes a stream of octets that will express a sequence of properties in the primitive type and dimension selected by the client. There is no response unless the request is invalid, or cant be completed.

Commonly used property transport sequences, especially those used by datagram services, might be predefined thereby avoiding any need to define the property transport sequence before it is used.

Define Property Transport Sequence Request

Data Type	Purpose	Value
UINTN	Directive	3
UINTN	Property sequence identifier	Sender defined
PSD	Property sequence description, see above	Sender defined

Expunge Property Transport Sequence

The client must expunge any property transport sequence from the server that will no-longer be used.

Expunge Property Transport Sequence Request

Data Type	Purpose	Value
UINTN	Directive
UINTN	Property Transport Sequence Identifier	Sender defined

Swap Property Transport Sequence Identifiers

Commands the server to assign the property transport sequence associated with property identifier one to property transport sequence identifier two and visa-versa. This functionality allows implementmplementation to dynamically adjust frequently used objects to use smaller integer identifiers, and therefore smaller on-the-wire representations.

Swap Property Identifiers Request

Data Type	Purpose	Value
UINTN	Directive
UINTN	Request identifier	Sender defined
UINTN	Property Transport Sequence Identifier one	Sender defined
UINTN	Property Transport Sequence Identifier two	Sender defined

Swap Property Transport Sequence Identifiers Successful Response

Data Type	Purpose	Value
UINTN	Request identifier	Client defined

Define IO Request Modifier

Define an IO request modifier. There is no response unless the request is invalid, or cant be completed.

The client must cancel any request trigger specification in the server that will no-longer be used.

Define Request Trigger Specification Request

Data Type	Purpose	Value
UINTN	Directive	4
UINTN	IO request modifier identifier	Sender defined, see below
STRING	<IO Request Modifier Expression>	Sender defined, see below

IO request modifier identifier

Value	Purpose
0	IO Type Synchronization Type write unsynchronized write read unsynchronized read command unsynchronized command subscribe first update is an unsynchronized read followed by updates for every state change
1 - 32	reserved
N > 32	client library assigned

IO Request Modifier Expression

<IO Request Modifier Expression> :=
    <Property Match Expression> <IO Request Attribute List>

<Property Match Expression> :=
    [(] [ [<Property Match Expression>] <Boolean Operator> ] <Property Match Specification> [)]

<IO Request Attribute List> :=
{
    <IO Request Attribute> [ <IO Request Attribute List> ]
}

<IO Request Attribute> :=
{
   <Subscription Modifier>,
   <Minimum Period Spec>,
   <Maximum Period Spec>,
   <Minimum Percent Change Between Updates Spec>,
   ,
   <Maximum Event Queue Length>,
   <Trigger Time Offset>,
   <Property Path>
}

<Property Match Expression> :=
  <Property Name> <Comparison Operator>
    { <Property Name>, <Channel Name>, <Constant Expression> }

Here are some examples of IO modifier expressions. Parenthesis may be used to enforce order of operations.

(beamGate == 4 ) && ! ( bpm32.beamGate == 7)

beamGate == 4 && triggerTimeOffset ( 3 sec )

beamGate == 4 && eventQueueLength ( 1 ) maxPeriod ( 4 sec )

eventQueueLength ( 1 ) propertyPath ( limits )

eventQueueLength ( 1 ) propertyPath ( xAxisMotor.limits )

Minimum and Maximum Period (applicable only to subscriptions)

timeSpec := <real number> 

maxPeriod ( timeSpec )

minPeriod ( timeSpec )

Minimum Percent Change Between Updates (applicable only to subscriptions)

minPercentChange ( <real number> )

Time Based Extraction Criteria (applicable only to subscriptions)

beginTime ( timeSpec )

endTime ( timeSpec )

Maximum Event Queue Length (applicable only to subscriptions)

eventQueueLength ( <integer number> )

Trigger Time Offset (applicable only to subscriptions)

triggerTimeOffset ( timeSpec )

Property Path

propertyPath ( <property hierarchy path> )

Attributes controlling queueing versus caching behavior of read and writes are probably specified here. Needs more thought.

Attributes controlling process passive and maximize severity (or their future functional equivalents) are probably specified here. Needs more thought.

Expunge IO Request Modifier

The client must expunge any IO request modifier from the server that will no-longer be used.

Expunge IO Request Modifier

Data Type	Purpose	Value
UINTN	Directive
UINTN	IO request modifier identifier	Sender defined

Swap IO Request Modifier Identifiers

Commands the server to assign the trigger specification associated with property identifier one to trigger intensifier two and visa-versa. This functionality allows implementation to dynamically adjust frequently used objects to use smaller integer identifiers, and therefore smaller on-the-wire representations.

Swap Property Identifiers Request

Data Type	Purpose	Value
UINTN	Directive
UINTN	Request identifier	Sender defined
UINTN	IO request modifier identifier one	Sender defined
UINTN	IO request modifier identifier two	Sender defined

Swap Trigger Identifiers Successful Response

Data Type	Purpose	Value
UINTN	Request identifier	Client defined

Channel Write Without Response

The client writes a property transport sequence to a process variable in the service. There is no response unless the request is invalid, or cant be completed.

Channel Write Request

Data Type	Purpose	Value
UINTN	Directive	5
UNINT	Channel identifier	Sender defined
UINTN	Property sequence identifier of payload	Sender defined
UINTN	IO request modifier identifier	Sender defined
PS	Property payload to be written	Sender defined

Channel Write With Response

The client writes a property transport sequence to a process variable in the service. There is always a response. A successful response indicates that the request, and all side effects, have completed. An unsuccessful response is an exception response (see above). It indicates that the request could not be completed in entirety, and that the internal state of the channel has not been modified.

Channel Write Request

Data Type	Purpose	Value
UINTN	Directive	6
UINTN	Request identifier	Sender defined
UINTN	Channel identifier	Sender defined
UINTN	Property sequence identifier of payload	Sender defined
UINTN	IO request modifier identifier	Sender defined
PS	Property payload to be written	Sender defined

Channel Write Successful Response

Data Type	Purpose	Value
UINTN	Request identifier	Client defined

Channel Read or Subscribe

The client reads a property transport sequence from a process variable in the service. If the request identifier is 7, there is only one response. Otherwise, if the request identifier is 8, a subscription is created and multiple responses are expected. A successful response includes the specified property transport sequence identifying the current state of the channel when the request was executed by the server. An unsuccessful response is an exception response (see above).

Channel Read or Subscribe Request

Data Type	Purpose	Value
UINTN	Directive	7 or 8
UINTN	Request identifier	Sender defined
UINTN	Channel identifier	Sender defined
UINTN	Property sequence identifier of response payload	Sender defined
UINTN	IO request modifier identifier	Sender defined

Channel Read or Subscribe Successful Response

Data Type	Purpose	Value
UINTN	Request identifier	Client defined
PS	Property payload read	Client formatted, server defined

Channel Command

The client sends a command to a message passing interface in the service. A request in the form of a property transport sequence is sent to the message passing interface in the service, and the message passing interface responds with another property transport sequence.

Data Type	Purpose	Value
UINTN	Directive	9
UINTN	Request identifier	Sender defined
UINTN	Channel identifier	Sender defined
UINTN	Request property sequence payload identifier	Sender defined
UINTN	Response property sequence payload identifier	Sender defined
UINTN	IO request modifier identifier	Sender defined
PS	Request property payload	Sender defined

Channel Read or Subscribe Successful Response

Data Type	Purpose	Value
UINTN	Request identifier	Client defined
PS	Response property payload	Client formatted, server defined

Cancel Request

Cancel a request in progress. There is no response.

Cancel Previous Request

Data Type	Purpose	Value
UINTN	Directive	10
UINTN	Request identifier	identifier of the request to be canceled

Server Verify

Verify that the server is responsive.

This request might also be accepted to by a datagram server. Typically, a response is mandatory, but a datagram server must never respond to any request of this type in a datagram sent to a broadcast or multicast address.

The property transport sequence is used to identify the condition of the server, and other (possibly site specific) server state variables.

Server Verify Request

Data Type	Purpose	Value
UINTN	Directive	11
UINTN	Request identifier	Sender defined
UINTN	Property sequence identifier	Sender defined

Circuit Verify Successful Response

Data Type	Purpose	Value
OBJID	Request identifier	Client defined
PS	Server status parameters	Client formatted, server defined

Design Notes

1. A fundamental choice of this design was that all identifiers are assigned by the client. This tends to make state change logic simpler in the client library and, since the server's identifier need not be returned in a response to the client, there will also be less TCP return pipe traffic during setup.
   The server might continue to have only one hash table keyed by an {object id, client id} pair. Hopefully, the bucket use distribution for this table can be managed to be reasonably uniform. This type of keying probably slightly increases hashing and distribution overhead so, alternatively, there could be one hash table in the server for each client, contingent possibly on upgraded memory management for the hash table implementation.
   There is a chance that a request to define a channel will be sent to a server that does not have the named communication receptacle. In that situation the server will send the client an exception, and respond to any subsequent requests specifying a bogus channel identifier with an exception message.
   The unfortunate drawback to this approach will be the opportunity for a client to briefly think that it is connected when it isn't. We are currently ensuring that disconnect notification arrives within NNN seconds so perhaps brief windows of uncertainty are not unreasonable. Also, this window of uncertainty would exist prior to arrival of the first monitor update so any client that watches the magnitude of a channel should remain in a safe state.
2. The flow-control functionality in previous versions of the CA protocol was probably only relevant to GUI applications. It is superseded in this version of the protocol by capabilities allowing clients to set the subscription event queue length?
3. Server beacons are used to efficiently inform multiple clients about server state of health while using minimum bandwidth. Multicasts/broadcasts are typically the lowest bandwidth consuming option when sending one message to multiple clients. Server beacons are used to A) inform clients when a newly accessible IOC joins the network, and B) periodically communicate tangible indication of responsiveness to clients with idle TCP circuits.
   In this version of the protocol hopefully beacons will be issued using multicast addresses thereby eliminating any need for the CA Repeater daemon.
   In this version of the protocol additional server state of health properties might be included in the beacon message.
4. The current baseline is to not include messages in the CA protocol for authentication purposes. Instead, we prefer to use transport protocol facilities for coarse host based authentication, and integrate public domain kerberos libraries (or some other equivalent) for stronger forms of authentication including user based authentication.
5. The current baseline is to employ subordinate properties to communicate the current state of the access rights for a channel.
   Will access rights properties need to show up in multiple places in the property hierarchy in order that the access rights might vary depending on what properties are accessed? If so, then how can we provide a consistent interface for clients so that they always know where to find the access rights in the property hierarchy?
6. Users will need to monitor the connection state of channels.
   Within the protocol there is a channel disconnect exception designating a service disconnect. There might also be a transport circuit disconnect.
   The user will probably subscribe at the client programming interface for connection state change callbacks using the subscription mechanism. The client library will trap the appropriate exceptions and circuit disconnect state changes forwarding them as synthesized subscription update callbacks at the programming interface.
7. The queueing versus caching behavior of write request sent to a channel will be modified by specifying a specialized IO request modifier with the write request.
8. The EPICS function block database's process passive and maximize severity link attributes (or their future equivalents) will be manipulated by specifying a specialized IO request modifier.
9. It will be necessary to introspect all of (or a subset of) the properties that are available in a channel. This will be accomplished by reading the propertyList property of the channel and requesting primitive type PSD or STRING.
10. There will be situations where the client will prefer to create one channel, but index any part of the property hierarchy. This will be done by specifying the property path in a relevant IO request modifier.
11. It will probably also be necessary to obtain a list of all of the communication receptacles in a server. This might be accomplished by sending a request / response command to a specialized PV. Wild cards could be specified in the request parameters and the channel list could be delivered in the response parameters.
12. Within future EPICS systems a special property accompanying state change update notification payloads must efficiently indicate the type of state change that has occurred. For example, there are currently "default dead-band state change excursion", "archive dead-band state change excursion", and "alarm state change" state change identifying events. This information will be needed, for example, to improve the implementation of the CA gateway. Starting with version four of EPICS a PSD will define a special type for communicating this information, and a standard property name will be assigned for locating this information in a subscription update payload. This property will also be used in IO request modifiers to filter out state changes that might not be needed.