i23 Laser shaping robot (#1131)

* Add PVs to existing robot

* Create laser shaping robot to extend existing robot

* Move lid temp to generic robot and swap read/write PVs

* Add robot device to aithre

* Fix missing colon in prefix

* Removed some PVs

* Changes post-testing at lab

* Restore separate laser robot

* Change aithre-specific PVs back to read-writes

* Split r/w of beamline_safe to have different types

* Change enum to strict enum

* Move super init to try and give PVs a proper name

* Change lid heater type to enum

* Change PV datatypes and make rw

Author: JamesDoingStuff

src/dodal/beamlines/aithre.py

@@ -1,9 +1,15 @@
 from dodal.common.beamlines.beamline_utils import device_factory
 from dodal.devices.aithre_lasershaping.goniometer import Goniometer
+from dodal.devices.aithre_lasershaping.laser_robot import LaserRobot
 
 PREFIX = "LA18L"
 
 
 @device_factory()
 def goniometer() -> Goniometer:
     return Goniometer(f"{PREFIX}-MO-LSR-01:", "goniometer")
+
+
+@device_factory()
+def robot() -> LaserRobot:
+    return LaserRobot("robot", f"{PREFIX}-MO-ROBOT-01:")

src/dodal/devices/aithre_lasershaping/laser_robot.py

@@ -0,0 +1,27 @@
+from ophyd_async.core import StrictEnum
+from ophyd_async.epics.core import epics_signal_rw
+
+from dodal.devices.robot import BartRobot
+
+
+class ForceBit(StrictEnum):
+    ON = "On"
+    NO = "No"
+    OFF = "Off"
+
+
+class LidHeatEnable(StrictEnum):
+    ENABLED = "Enabled"
+    DISABLED = "Disabled"
+
+
+class LaserRobot(BartRobot):
+    def __init__(self, name: str, prefix: str) -> None:
+        self.dewar_lid_heater = epics_signal_rw(
+            LidHeatEnable, prefix + "DW_1_ENABLED", prefix + "DW_1_CTRL"
+        )
+        self.cryojet_retract = epics_signal_rw(ForceBit, prefix + "OP_24_FORCE_OPTION")
+        self.set_beamline_safe = epics_signal_rw(
+            ForceBit, prefix + "IP_16_FORCE_OPTION"
+        )
+        super().__init__(name=name, prefix=prefix)

src/dodal/devices/robot.py

@@ -11,7 +11,12 @@
     set_and_wait_for_value,
     wait_for_value,
 )
-from ophyd_async.epics.core import epics_signal_r, epics_signal_rw_rbv, epics_signal_x
+from ophyd_async.epics.core import (
+    epics_signal_r,
+    epics_signal_rw,
+    epics_signal_rw_rbv,
+    epics_signal_x,
+)
 
 from dodal.log import LOGGER
 
@@ -88,6 +93,20 @@ def __init__(self, name: str, prefix: str) -> None:
         self.controller_error = ErrorStatus(prefix + "CNTL")
 
         self.reset = epics_signal_x(prefix + "RESET.PROC")
+        self.stop = epics_signal_x(prefix + "ABORT.PROC")
+        self.init = epics_signal_x(prefix + "INIT.PROC")
+        self.soak = epics_signal_x(prefix + "SOAK.PROC")
+        self.home = epics_signal_x(prefix + "GOHM.PROC")
+        self.unload = epics_signal_x(prefix + "UNLD.PROC")
+        self.dry = epics_signal_x(prefix + "DRY.PROC")
+        self.open = epics_signal_x(prefix + "COLO.PROC")
+        self.close = epics_signal_x(prefix + "COLC.PROC")
+        self.cryomode_rbv = epics_signal_r(float, prefix + "CRYO_MODE_RBV")
+        self.cryomode = epics_signal_rw(str, prefix + "CRYO_MODE_CTRL")
+        self.gripper_temp = epics_signal_r(float, prefix + "GRIPPER_TEMP")
+        self.dewar_lid_temperature = epics_signal_rw(
+            float, prefix + "DW_1_TEMP", prefix + "DW_1_SET_POINT"
+        )
         super().__init__(name=name)
 
     async def pin_mounted_or_no_pin_found(self):