Create common mirror classes and populate I05s mirrors

src/dodal/beamline_specific_utils/i05_shared.py

@@ -1,11 +1,41 @@
+from ophyd_async.core import StrictEnum
+
 from dodal.common.beamlines.beamline_utils import device_factory
-from dodal.devices.i05.enums import Grating
+from dodal.devices.i05.common_mirror import XYZPiezoSwitchingMirror
+from dodal.devices.motors import XYZPitchYawRollStage
 from dodal.devices.pgm import PGM
 from dodal.utils import BeamlinePrefix
 
 PREFIX = BeamlinePrefix("i05", "I")
 
 
+class M3MJ6Mirror(StrictEnum):
+    UNKNOWN = "Unknown"
+    MJ6 = "MJ6"
+    M3 = "M3"
+    REFERENCE = "Reference"
+
+
+class Grating(StrictEnum):
+    PT_400 = "400 lines/mm"
+    C_1600 = "C 1600 lines/mm"
+    RH_1600 = "Rh 1600 lines/mm"
+    PT_800 = "B 800 lines/mm"
+
+
 @device_factory()
 def pgm() -> PGM:
     return PGM(prefix=f"{PREFIX.beamline_prefix}-OP-PGM-01:", grating=Grating)
+
+
+@device_factory()
+def m1_collimating_mirror() -> XYZPitchYawRollStage:
+    return XYZPitchYawRollStage(prefix=f"{PREFIX.beamline_prefix}-OP-COL-01:")
+
+
+@device_factory()
+def m3mj6_switching_mirror() -> XYZPiezoSwitchingMirror:
+    return XYZPiezoSwitchingMirror(
+        prefix=f"{PREFIX.beamline_prefix}-OP-SWTCH-01:",
+        mirrors=M3MJ6Mirror,
+    )

src/dodal/beamlines/i05.py

@@ -1,6 +1,14 @@
-from dodal.beamline_specific_utils.i05_shared import pgm as i05_pgm
+from ophyd_async.core import StrictEnum
+
+from dodal.beamline_specific_utils.i05_shared import (
+    m1_collimating_mirror,
+    m3mj6_switching_mirror,
+    pgm,
+)
 from dodal.common.beamlines.beamline_utils import device_factory
 from dodal.common.beamlines.beamline_utils import set_beamline as set_utils_beamline
+from dodal.devices.i05.common_mirror import XYZPiezoSwitchingMirror, XYZSwitchingMirror
+from dodal.devices.motors import XYZPitchYawRollStage
 from dodal.devices.pgm import PGM
 from dodal.devices.synchrotron import Synchrotron
 from dodal.log import set_beamline as set_log_beamline
@@ -17,6 +25,39 @@ def synchrotron() -> Synchrotron:
     return Synchrotron()
 
 
+# BL05 shared devices
+
+
+@device_factory()
+def pgm_i05() -> PGM:
+    return pgm()
+
+
+@device_factory()
+def m1() -> XYZPitchYawRollStage:
+    return m1_collimating_mirror()
+
+
+# will connect after https://jira.diamond.ac.uk/browse/I05-731
+@device_factory()
+def m3mj6() -> XYZPiezoSwitchingMirror:
+    return m3mj6_switching_mirror()
+
+
+# beamline specific devices
+
+
+# will connect after https://jira.diamond.ac.uk/browse/I05-731
+class M4M5Mirror(StrictEnum):
+    UNKNOWN = "Unknown"
+    MJ6 = "M4"
+    M3 = "M5"
+    REFERENCE = "Reference"
+
+
 @device_factory()
-def pgm() -> PGM:
-    return i05_pgm()
+def m4m5() -> XYZSwitchingMirror:
+    return XYZSwitchingMirror(
+        prefix=f"{PREFIX.beamline_prefix}-OP-RFM-01:",
+        mirrors=M4M5Mirror,
+    )

src/dodal/beamlines/i05_1.py

@@ -1,6 +1,14 @@
-from dodal.beamline_specific_utils.i05_shared import pgm as i05_pgm
+from ophyd_async.core import StrictEnum
+
+from dodal.beamline_specific_utils.i05_shared import (
+    m1_collimating_mirror,
+    m3mj6_switching_mirror,
+    pgm,
+)
 from dodal.common.beamlines.beamline_utils import device_factory
 from dodal.common.beamlines.beamline_utils import set_beamline as set_utils_beamline
+from dodal.devices.i05.common_mirror import XYZPiezoSwitchingMirror
+from dodal.devices.motors import XYZPitchYawRollStage
 from dodal.devices.pgm import PGM
 from dodal.devices.synchrotron import Synchrotron
 from dodal.log import set_beamline as set_log_beamline
@@ -13,10 +21,43 @@
 
 
 @device_factory()
-def pgm() -> PGM:
-    return i05_pgm()
+def synchrotron() -> Synchrotron:
+    return Synchrotron()
+
+
+# BL05 shared devices
+
+
+@device_factory()
+def pgm_i05() -> PGM:
+    return pgm()
 
 
 @device_factory()
-def synchrotron() -> Synchrotron:
-    return Synchrotron()
+def m1() -> XYZPitchYawRollStage:
+    return m1_collimating_mirror()
+
+
+@device_factory()
+def m3mj6() -> XYZPiezoSwitchingMirror:
+    return m3mj6_switching_mirror()
+
+
+# beamline specific devices
+
+
+# will connect after https://jira.diamond.ac.uk/browse/I05-731
+class Mj7j8Mirror(StrictEnum):
+    UNKNOWN = "Unknown"
+    MJ6 = "MJ8"
+    M3 = "MJ7"
+    REFERENCE = "Reference"
+
+
+# will connect after https://jira.diamond.ac.uk/browse/I05-731
+@device_factory()
+def mj7j8() -> XYZPiezoSwitchingMirror:
+    return XYZPiezoSwitchingMirror(
+        prefix=f"{PREFIX.beamline_prefix}-OP-RFM-01:",
+        mirrors=Mj7j8Mirror,
+    )

src/dodal/devices/i05/__init__.py

@@ -1,3 +1,7 @@
-from dodal.devices.i05.enums import Grating
+from dodal.devices.i05.common_mirror import (
+    XYZPiezoCollimatingMirror,
+    XYZPiezoSwitchingMirror,
+    XYZSwitchingMirror,
+)
 
-__all__ = ["Grating"]
+__all__ = ["XYZSwitchingMirror", "XYZPiezoCollimatingMirror", "XYZPiezoSwitchingMirror"]

src/dodal/devices/i05/common_mirror.py

@@ -0,0 +1,120 @@
+from typing import Generic, TypeVar
+
+from ophyd_async.core import StrictEnum
+from ophyd_async.epics.core import epics_signal_rw, epics_signal_x
+
+from dodal.devices.motors import _X, _Y, _Z, XYZPitchYawRollStage
+
+TMirror = TypeVar("TMirror", bound=StrictEnum)
+
+
+class XYZSwitchingMirror(XYZPitchYawRollStage, Generic[TMirror]):
+    """
+    Set of mirrors on a hexapod with x,y,z and yaw, pitch, roll motors.
+    To change mirror one need to set mirror enum and trigger mirror change.
+    """
+
+    def __init__(
+        self,
+        prefix: str,
+        mirrors: type[TMirror],
+        name: str = "",
+        x_infix: str = _X,
+        y_infix: str = _Y,
+        z_infix: str = _Z,
+        pitch_infix: str = "PITCH",
+        yaw_infix: str = "YAW",
+        roll_infix: str = "ROLL",
+        mirror_read_suffix: str = "MIRCTRL:RBV:MIRROR",
+        mirror_write_suffix: str = "MIRCTRL:DMD:MIRROR",
+        mirror_change_suffix: str = "MIRCTRL:SEQ:CHNG:MIRROR.PROC",
+        mirror_abort_suffix: str = "MIRCTRL:DMD:ABORT.PROC",
+    ):
+        with self.add_children_as_readables():
+            self.mirror = epics_signal_rw(
+                mirrors,
+                read_pv=prefix + mirror_read_suffix,
+                write_pv=prefix + mirror_write_suffix,
+            )
+
+        self.mirror_change = epics_signal_x(write_pv=prefix + mirror_change_suffix)
+        self.mirror_abort = epics_signal_x(write_pv=prefix + mirror_abort_suffix)
+
+        super().__init__(
+            prefix, name, x_infix, y_infix, z_infix, pitch_infix, yaw_infix, roll_infix
+        )
+
+
+class XYZPiezoCollimatingMirror(XYZPitchYawRollStage):
+    """
+    Collimating mirror on a hexapod with x,y,z and yaw, pitch, roll motors.
+    In addition there is a fine pitch piezo motor.
+    """
+
+    def __init__(
+        self,
+        prefix: str,
+        name: str = "",
+        x_infix: str = _X,
+        y_infix: str = _Y,
+        z_infix: str = _Z,
+        pitch_infix: str = "PITCH",
+        yaw_infix: str = "YAW",
+        roll_infix: str = "ROLL",
+        fpitch_read_suffix: str = "FPITCH:RBV",
+        fpitch_write_suffix: str = "FPITCH:DMD",
+    ):
+        with self.add_children_as_readables():
+            self.fine_pitch = epics_signal_rw(
+                float,
+                read_pv=prefix + fpitch_read_suffix,
+                write_pv=prefix + fpitch_write_suffix,
+            )
+        super().__init__(
+            prefix, name, x_infix, y_infix, z_infix, pitch_infix, yaw_infix, roll_infix
+        )
+
+
+class XYZPiezoSwitchingMirror(XYZPitchYawRollStage, Generic[TMirror]):
+    """
+    Set of mirrors on a hexapod with x,y,z and yaw, pitch, roll motors.
+    To change mirror one need to set mirror enum and trigger mirror change.
+    In addition there is a fine pitch piezo motor.
+    """
+
+    def __init__(
+        self,
+        prefix: str,
+        mirrors: type[TMirror],
+        name: str = "",
+        x_infix: str = _X,
+        y_infix: str = _Y,
+        z_infix: str = _Z,
+        pitch_infix: str = "PITCH",
+        yaw_infix: str = "YAW",
+        roll_infix: str = "ROLL",
+        fpitch_read_suffix: str = "FPITCH:RBV",
+        fpitch_write_suffix: str = "FPITCH:DMD",
+        mirror_read_suffix: str = "MIRCTRL:RBV:MIRROR",
+        mirror_write_suffix: str = "MIRCTRL:DMD:MIRROR",
+        mirror_change_suffix: str = "MIRCTRL:SEQ:CHNG:MIRROR.PROC",
+        mirror_abort_suffix: str = "MIRCTRL:DMD:ABORT.PROC",
+    ):
+        with self.add_children_as_readables():
+            self.fine_pitch = epics_signal_rw(
+                float,
+                read_pv=prefix + fpitch_read_suffix,
+                write_pv=prefix + fpitch_write_suffix,
+            )
+            self.mirror = epics_signal_rw(
+                mirrors,
+                read_pv=prefix + mirror_read_suffix,
+                write_pv=prefix + mirror_write_suffix,
+            )
+
+        self.mirror_change = epics_signal_x(write_pv=prefix + mirror_change_suffix)
+        self.mirror_abort = epics_signal_x(write_pv=prefix + mirror_abort_suffix)
+
+        super().__init__(
+            prefix, name, x_infix, y_infix, z_infix, pitch_infix, yaw_infix, roll_infix
+        )