Add ability to move scintillator in to beam for i04

src/dodal/devices/oav/pin_image_recognition/utils.py

@@ -14,6 +14,12 @@ class ScanDirections(Enum):
     REVERSE = -1
 
 
+"""
+See https://opencv24-python-tutorials.readthedocs.io/en/latest/py_tutorials/py_imgproc/py_morphological_ops/py_morphological_ops.html 
+for description of functions below.
+"""
+
+
 def identity(*args, **kwargs) -> Callable[[np.ndarray], np.ndarray]:
     return lambda arr: arr
 

src/dodal/devices/scintillator.py

@@ -8,9 +8,10 @@
 
 
 class InOut(StrictEnum):
-    """Currently Hyperion only needs to move the scintillator out for data collection."""
+    """Moves scintillator in and out of the beam."""
 
-    OUT = "Out"
+    OUT = "Out"  # Out of beam
+    IN = "In"  # In to beam
     UNKNOWN = "Unknown"
 
 
@@ -45,42 +46,63 @@ def __init__(
         self._scintillator_out_yz_mm = [
             float(beamline_parameters[f"scin_{axis}_SCIN_OUT"]) for axis in ("y", "z")
         ]
+        self._scintillator_in_yz_mm = [
+            float(beamline_parameters[f"scin_{axis}_SCIN_IN"]) for axis in ("y", "z")
+        ]
         self._yz_tolerance_mm = [
             float(beamline_parameters[f"scin_{axis}_tolerance"]) for axis in ("y", "z")
         ]
 
         super().__init__(name)
 
-    def _get_selected_position(self, y: float, z: float) -> InOut:
-        current_pos = [y, z]
-        if all(
+    def _check_position(self, current_pos: list[float], pos_to_check: list[float]):
+        return all(
             isclose(axis_pos, axis_in_beam, abs_tol=axis_tolerance)
             for axis_pos, axis_in_beam, axis_tolerance in zip(
                 current_pos,
-                self._scintillator_out_yz_mm,
+                pos_to_check,
                 self._yz_tolerance_mm,
                 strict=False,
             )
-        ):
+        )
+
+    def _get_selected_position(self, y: float, z: float) -> InOut:
+        current_pos = [y, z]
+        if self._check_position(current_pos, self._scintillator_out_yz_mm):
             return InOut.OUT
+
+        elif self._check_position(current_pos, self._scintillator_in_yz_mm):
+            return InOut.IN
+
         else:
             return InOut.UNKNOWN
 
+    async def _check_aperture_parked(self):
+        if (
+            await self._aperture_scatterguard().selected_aperture.get_value()
+            != ApertureValue.PARKED
+        ):
+            raise ValueError(
+                f"Cannot move scintillator if aperture/scatterguard is not parked. Position is currently {await self._aperture_scatterguard().selected_aperture.get_value()}"
+            )
+
     async def _set_selected_position(self, position: InOut) -> None:
         match position:
             case InOut.OUT:
                 current_y = await self.y_mm.user_readback.get_value()
                 current_z = await self.z_mm.user_readback.get_value()
                 if self._get_selected_position(current_y, current_z) == InOut.OUT:
                     return
-                if (
-                    self._aperture_scatterguard().selected_aperture.get_value()
-                    != ApertureValue.PARKED
-                ):
-                    raise ValueError(
-                        "Cannot move scintillator out if aperture/scatterguard is not parked"
-                    )
+                await self._check_aperture_parked()
                 await self.y_mm.set(self._scintillator_out_yz_mm[0])
                 await self.z_mm.set(self._scintillator_out_yz_mm[1])
+            case InOut.IN:
+                current_y = await self.y_mm.user_readback.get_value()
+                current_z = await self.z_mm.user_readback.get_value()
+                if self._get_selected_position(current_y, current_z) == InOut.IN:
+                    return
+                await self._check_aperture_parked()
+                await self.z_mm.set(self._scintillator_in_yz_mm[1])
+                await self.y_mm.set(self._scintillator_in_yz_mm[0])
             case _:
                 raise ValueError(f"Cannot set scintillator to position {position}")

tests/devices/test_scintillator.py

@@ -1,10 +1,10 @@
 from collections.abc import AsyncGenerator
 from contextlib import ExitStack
-from unittest.mock import MagicMock
+from unittest.mock import AsyncMock, MagicMock
 
 import pytest
 from ophyd_async.core import init_devices
-from ophyd_async.testing import get_mock_put
+from ophyd_async.testing import assert_value, get_mock_put
 
 from dodal.common.beamlines.beamline_parameters import GDABeamlineParameters
 from dodal.devices.aperturescatterguard import ApertureScatterguard, ApertureValue
@@ -32,6 +32,8 @@ async def scintillator_and_ap_sg(
 ) -> AsyncGenerator[tuple[Scintillator, MagicMock], None]:
     async with init_devices(mock=True):
         mock_ap_sg = MagicMock()
+        mock_ap_sg.return_value.selected_aperture.set = AsyncMock()
+        mock_ap_sg.return_value.selected_aperture.get_value = AsyncMock()
         scintillator = Scintillator(
             prefix="",
             name="test_scin",
@@ -49,6 +51,7 @@ async def scintillator_and_ap_sg(
 @pytest.mark.parametrize(
     "y, z, expected_position",
     [
+        (100.855, 101.5115, InOut.IN),
         (-0.02, 0.1, InOut.OUT),
         (0.1, 0.1, InOut.UNKNOWN),
         (10.2, 15.6, InOut.UNKNOWN),
@@ -84,34 +87,56 @@ async def test_given_aperture_scatterguard_parked_when_set_to_out_position_then_
 
     await scintillator.selected_pos.set(InOut.OUT)
 
-    assert await scintillator.y_mm.user_setpoint.get_value() == -0.02
-    assert await scintillator.z_mm.user_setpoint.get_value() == 0.1
+    await assert_value(scintillator.y_mm.user_setpoint, -0.02)
+    await assert_value(scintillator.z_mm.user_setpoint, 0.1)
 
 
-async def test_given_aperture_scatterguard_not_parked_when_set_to_out_position_then_exception_raised(
+async def test_given_aperture_scatterguard_parked_when_set_to_in_position_then_returns_expected(
     scintillator_and_ap_sg: tuple[Scintillator, ApertureScatterguard],
+):
+    scintillator, ap_sg = scintillator_and_ap_sg
+    ap_sg.return_value.selected_aperture.get_value.return_value = ApertureValue.PARKED  # type: ignore
+
+    await scintillator.selected_pos.set(InOut.IN)
+
+    await assert_value(scintillator.y_mm.user_setpoint, 100.855)
+    await assert_value(scintillator.z_mm.user_setpoint, 101.5115)
+
+
+@pytest.mark.parametrize("scint_pos", [InOut.OUT, InOut.IN])
+async def test_given_aperture_scatterguard_not_parked_when_set_to_in_or_out_position_then_exception_raised(
+    scintillator_and_ap_sg: tuple[Scintillator, ApertureScatterguard], scint_pos
 ):
     for position in ApertureValue:
         if position != ApertureValue.PARKED:
             scintillator, ap_sg = scintillator_and_ap_sg
             ap_sg.return_value.selected_aperture.get_value.return_value = position  # type: ignore
-
             with pytest.raises(ValueError):
-                await scintillator.selected_pos.set(InOut.OUT)
+                await scintillator.selected_pos.set(scint_pos)
 
 
-async def test_given_scintillator_already_out_when_moved_out_then_does_nothing(
+@pytest.mark.parametrize(
+    "y, z, expected_position",
+    [
+        (100.855, 101.5115, InOut.IN),
+        (-0.02, 0.1, InOut.OUT),
+    ],
+)
+async def test_given_scintillator_already_out_when_moved_in_or_out_then_does_nothing(
     scintillator_and_ap_sg: tuple[Scintillator, ApertureScatterguard],
+    expected_position,
+    y,
+    z,
 ):
     scintillator, ap_sg = scintillator_and_ap_sg
-    await scintillator.y_mm.set(0)
-    await scintillator.z_mm.set(0)
+    await scintillator.y_mm.set(y)
+    await scintillator.z_mm.set(z)
 
     get_mock_put(scintillator.y_mm.user_setpoint).reset_mock()
     get_mock_put(scintillator.z_mm.user_setpoint).reset_mock()
 
     ap_sg.return_value.selected_aperture.get_value.return_value = ApertureValue.LARGE  # type: ignore
-    await scintillator.selected_pos.set(InOut.OUT)
+    await scintillator.selected_pos.set(expected_position)
 
     get_mock_put(scintillator.y_mm.user_setpoint).assert_not_called()
     get_mock_put(scintillator.z_mm.user_setpoint).assert_not_called()