I16 insertion device

[DG-At-Diamond]

Fixes DiamondLightSource/sm-bluesky#126

This adds the undulator for I16, setting the gap in mm. It does not currently include the energy calculations or lookup table, these are performed in GDA at the moment and will be implemented in bluesky in a later change.

Instructions to reviewer on how to test:

run dodal connect i16 and check the id is in the list

Checks for reviewer

• Would the PR title make sense to a scientist on a set of release notes
• If a new device has been added does it follow the standards
• If changing the API for a pre-existing device, ensure that any beamlines using this device have updated their Bluesky plans accordingly
• Have the connection tests for the relevant beamline(s) been run via dodal connect ${BEAMLINE}

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 99.12%. Comparing base (a2e9629) to head (194583f).
⚠️ Report is 1 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #1778   +/-   ##
=======================================
  Coverage   99.11%   99.12%           
=======================================
  Files         281      282    +1     
  Lines       10667    10683   +16     
=======================================
+ Hits        10573    10589   +16     
  Misses         94       94           

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[oliwenmandiamond]

Just a nit with the name. This is also a good opportunity to use the new DeviceManager instead of device_factory as we need to migrate across (so it no longer uses a global context and instead use something to manage the context). See dodal/beamlines/i03.py for an example

e.g

from dodal.device_manager import DeviceManager
...
devices = DeviceManager()

@devices.factory
def id() -> ...

[oliwenmandiamond]

Suggested change

	@device_factory()
	def id() -> UndulatorInMm:
	return UndulatorInMm(
	name="id", prefix=f"{BeamlinePrefix(BL).insertion_prefix}-MO-SERVC-01:"
	)
	@device_factory()
	def id() -> UndulatorInMm:
	return UndulatorInMm(
	prefix=f"{BeamlinePrefix(BL).insertion_prefix}-MO-SERVC-01:"
	)

Remove the name, let the factory auto populate it with the function name

[oliwenmandiamond]

Sorry, also you should just do this for the prefix

Suggested change

	@device_factory()
	def id() -> UndulatorInMm:
	return UndulatorInMm(
	name="id", prefix=f"{BeamlinePrefix(BL).insertion_prefix}-MO-SERVC-01:"
	)
	@device_factory()
	def id() -> UndulatorInMm:
	return UndulatorInMm(
	prefix=f"{PREFIX.insertion_prefix}-MO-SERVC-01:"
	)

[oliwenmandiamond]

Thanks, just need to remove the names and then all good

[DG-At-Diamond]

I have been looking into the energy calculations and think this should be merged as is and we can add that later on as a separate PR as there are some unanswered questions about how it's going to work.