Merge remote-tracking branch 'origin/main' into i03-device-manager

Author: rtuck99

docs/how-to/write-tests.md

@@ -7,7 +7,7 @@ Testing is essential to maintain the integrity and reliability of the codebase.
 - **Unit Tests**: Place unit tests for individual components in the `tests` directory, but take care to mirror the file structure of the `src` folder with the corresponding code files. Use the `test_*.py` naming convention for test files.
 - **System Tests**: Tests that interact with DLS infrastructure, network, and filesystem should be placed in the top-level `systems_test` folder. This separation ensures that these tests are easily identifiable and can be run independently from unit tests.
 
-Useful functions for testing that can be reused across multiple tests for common devices and for external plan repositories belong in the `dodal/testing` directory. For example, when mocking a `Motor` device, all of the signals will default to zero, which will cause errors when trying to move. The `patch_motor` and `patch_all_motors` functions, found in `dodal.testing`, will populate the mocked motor with useful default values for the signals so that it can still be used in tests.
+Useful functions for testing that can be reused across multiple tests for common devices and for external plan repositories belong in the `dodal/testing` directory.
 
 
 ## Writing a test for a device

pyproject.toml

@@ -14,7 +14,7 @@ description = "Ophyd devices and other utils that could be used across DLS beaml
 dependencies = [
     "click",
     "ophyd",
-    "ophyd-async[ca,pva]>=0.13.7",
+    "ophyd-async[ca,pva]>=v0.14.0",
     "bluesky>=1.14.5",
     "pyepics",
     "pillow",
@@ -48,7 +48,7 @@ dev = [
     # Commented out due to dependency version conflict with pydantic 1.x
     # "copier",
     "myst-parser",
-    "ophyd_async[sim]",
+    "ophyd_async[sim]>=v0.14.0",
     "pipdeptree",
     "pre-commit",
     "psutil",

src/dodal/beamline_specific_utils/i03.py

@@ -28,8 +28,10 @@
 from dodal.devices.focusing_mirror import FocusingMirrorWithStripes, MirrorVoltages
 from dodal.devices.hutch_shutter import HutchShutter
 from dodal.devices.i03 import Beamstop
+from dodal.devices.i03.beamsize import Beamsize
 from dodal.devices.i03.dcm import DCM
 from dodal.devices.i03.undulator_dcm import UndulatorDCM
+from dodal.devices.ipin import IPin
 from dodal.devices.motors import XYZStage
 from dodal.devices.oav.oav_detector import OAVBeamCentreFile
 from dodal.devices.oav.oav_parameters import OAVConfigBeamCentre
@@ -449,3 +451,21 @@ def collimation_table() -> CollimationTable:
     If this is called when already instantiated in i03, it will return the existing object.
     """
     return CollimationTable(prefix=f"{PREFIX.beamline_prefix}-MO-TABLE-01")
+
+
+@device_factory()
+def beamsize() -> Beamsize:
+    """Get the i03 beamsize device, instantiate it if it hasn't already been.
+    If this is called when already instantiated in i03, it will return the existing object.
+    """
+    return Beamsize(
+        aperture_scatterguard=aperture_scatterguard(),
+    )
+
+
+@device_factory()
+def ipin() -> IPin:
+    """Get the i03 ipin device, instantiate it if it hasn't already been.
+    If this is called when already instantiated in i04, it will return the existing object.
+    """
+    return IPin(f"{PREFIX.beamline_prefix}-EA-PIN-01:")

src/dodal/beamlines/i03.py

@@ -20,6 +20,7 @@
 from dodal.devices.fast_grid_scan import ZebraFastGridScanThreeD
 from dodal.devices.flux import Flux
 from dodal.devices.i03.dcm import DCM
+from dodal.devices.i04.beamsize import Beamsize
 from dodal.devices.i04.constants import RedisConstants
 from dodal.devices.i04.murko_results import MurkoResultsDevice
 from dodal.devices.i04.transfocator import Transfocator
@@ -377,3 +378,14 @@ def scintillator() -> Scintillator:
         Reference(aperture_scatterguard()),
         get_beamline_parameters(),
     )
+
+
+@device_factory()
+def beamsize() -> Beamsize:
+    """Get the i04 beamsize device, instantiate it if it hasn't already been.
+    If this is called when already instantiated in i04, it will return the existing object.
+    """
+    return Beamsize(
+        transfocator=transfocator(),
+        aperture_scatterguard=aperture_scatterguard(),
+    )

src/dodal/beamlines/i04.py

@@ -1,6 +1,7 @@
 from __future__ import annotations
 
 import asyncio
+from math import inf
 
 from bluesky.protocols import Preparable
 from ophyd_async.core import (
@@ -112,7 +113,7 @@ def load_positions_from_beamline_parameters(
 ) -> dict[ApertureValue, AperturePosition]:
     return {
         ApertureValue.OUT_OF_BEAM: AperturePosition.from_gda_params(
-            _GDAParamApertureValue.ROBOT_LOAD, 0, params
+            _GDAParamApertureValue.ROBOT_LOAD, inf, params
         ),
         ApertureValue.SMALL: AperturePosition.from_gda_params(
             _GDAParamApertureValue.SMALL, 20, params
@@ -124,7 +125,7 @@ def load_positions_from_beamline_parameters(
             _GDAParamApertureValue.LARGE, 100, params
         ),
         ApertureValue.PARKED: AperturePosition.from_gda_params(
-            _GDAParamApertureValue.MANUAL_LOAD, 0, params
+            _GDAParamApertureValue.MANUAL_LOAD, inf, params
         ),
     }
 

src/dodal/devices/aperturescatterguard.py

@@ -0,0 +1,6 @@
+from ophyd_async.core import SignalR, StandardReadable
+
+
+class BeamsizeBase(StandardReadable):
+    x_um: SignalR[float]
+    y_um: SignalR[float]

src/dodal/devices/beamsize/__init__.py

@@ -10,14 +10,16 @@ def _get_detector_radius_mm(detector_params: DetectorParams):
     return 0.5 * _get_detector_max_size_mm(detector_params)
 
 
-def _get_detector_max_size_mm(detector_params):
+def _get_detector_max_size_mm(detector_params: DetectorParams):
     return max(
         detector_params.detector_size_constants.det_dimension.width,
         detector_params.detector_size_constants.det_dimension.height,
     )
 
 
-def _get_beam_xy_accounting_for_roi(detector_params, det_distance_mm):
+def _get_beam_xy_accounting_for_roi(
+    detector_params: DetectorParams, det_distance_mm: float
+):
     beam_x = detector_params.beam_xy_converter.get_beam_xy_from_det_dist(
         det_distance_mm, Axis.X_AXIS
     )

src/dodal/devices/beamsize/beamsize.py

@@ -1,5 +1,7 @@
 import asyncio
 from abc import ABC, abstractmethod
+from functools import partial
+from math import isclose
 from typing import Generic, TypeVar
 
 import numpy as np
@@ -307,13 +309,23 @@ async def prepare(self, value: ParamType):
         set_statuses = []
 
         LOGGER.info("Applying gridscan parameters...")
+
         # Create arguments for bps.mv
         for key, signal in self._movable_params.items():
             param_value = value.__dict__[key]
-            set_statuses.append(await set_and_wait_for_value(signal, param_value))  # type: ignore
+
+            matcher = partial(isclose, param_value, abs_tol=0.001)
+
+            set_statuses.append(
+                set_and_wait_for_value(
+                    signal,  # type: ignore
+                    param_value,
+                    match_value=matcher,
+                )
+            )
 
         # Counter should always start at 0
-        set_statuses.append(await set_and_wait_for_value(self.position_counter, 0))
+        set_statuses.append(set_and_wait_for_value(self.position_counter, 0))
 
         LOGGER.info("Gridscan parameters applied, waiting for sets to complete...")