Merge pull request #289 from DiamondLightSource/hyperion_863_use_ophy…

…d_pin_tip

Make the ophyd pin tip centre device more like the AD one

src/dodal/devices/areadetector/plugins/MXSC.py

@@ -116,8 +116,8 @@ class MXSC(Device):
     canny_upper_threshold = Component(EpicsSignal, "CannyUpper")
     canny_lower_threshold = Component(EpicsSignal, "CannyLower")
     close_ksize = Component(EpicsSignal, "CloseKsize")
-    sample_detection_scan_direction = Component(EpicsSignal, "ScanDirection")
-    sample_detection_min_tip_height = Component(EpicsSignal, "MinTipHeight")
+    scan_direction = Component(EpicsSignal, "ScanDirection")
+    min_tip_height = Component(EpicsSignal, "MinTipHeight")
 
     top = Component(EpicsSignal, "Top")
     bottom = Component(EpicsSignal, "Bottom")

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

@@ -4,9 +4,9 @@
 from typing import Optional, Tuple
 
 import numpy as np
-from bluesky.protocols import Descriptor, Readable, Reading
+from bluesky.protocols import Descriptor, Reading
 from numpy.typing import NDArray
-from ophyd_async.core import Device, SignalR, SignalRW
+from ophyd_async.core import SignalR, SignalRW, StandardReadable
 from ophyd_async.epics.signal import epics_signal_r
 
 from dodal.devices.oav.pin_image_recognition.utils import (
@@ -19,7 +19,7 @@
 from dodal.log import LOGGER
 
 
-class PinTipDetection(Readable, Device):
+class PinTipDetection(StandardReadable):
     """
     A device which will read a single frame from an on-axis view and use that frame
     to calculate the pin-tip offset (in pixels) of that frame.
@@ -31,6 +31,8 @@ class PinTipDetection(Readable, Device):
     then it will return (None, None).
     """
 
+    INVALID_POSITION = (None, None)
+
     def __init__(self, prefix: str, name: str = ""):
         self._prefix: str = prefix
         self._name = name
@@ -43,7 +45,7 @@ def __init__(self, prefix: str, name: str = ""):
         self.timeout: SignalRW[float] = create_soft_signal_rw(
             float, "timeout", self.name
         )
-        self.preprocess: SignalRW[int] = create_soft_signal_rw(
+        self.preprocess_operation: SignalRW[int] = create_soft_signal_rw(
             int, "preprocess", self.name
         )
         self.preprocess_ksize: SignalRW[int] = create_soft_signal_rw(
@@ -52,10 +54,10 @@ def __init__(self, prefix: str, name: str = ""):
         self.preprocess_iterations: SignalRW[int] = create_soft_signal_rw(
             int, "preprocess_iterations", self.name
         )
-        self.canny_upper: SignalRW[int] = create_soft_signal_rw(
+        self.canny_upper_threshold: SignalRW[int] = create_soft_signal_rw(
             int, "canny_upper", self.name
         )
-        self.canny_lower: SignalRW[int] = create_soft_signal_rw(
+        self.canny_lower_threshold: SignalRW[int] = create_soft_signal_rw(
             int, "canny_lower", self.name
         )
         self.close_ksize: SignalRW[int] = create_soft_signal_rw(
@@ -70,6 +72,9 @@ def __init__(self, prefix: str, name: str = ""):
         self.min_tip_height: SignalRW[int] = create_soft_signal_rw(
             int, "min_tip_height", self.name
         )
+        self.validity_timeout: SignalR[float] = create_soft_signal_rw(
+            float, "validity_timeout", self.name
+        )
 
         super().__init__(name=name)
 
@@ -82,7 +87,7 @@ async def _get_tip_position(
         Returns tuple of:
             ((tip_x, tip_y), timestamp)
         """
-        preprocess_key = await self.preprocess.get_value()
+        preprocess_key = await self.preprocess_operation.get_value()
         preprocess_iter = await self.preprocess_iterations.get_value()
         preprocess_ksize = await self.preprocess_ksize.get_value()
 
@@ -94,13 +99,19 @@ async def _get_tip_position(
             LOGGER.error("Invalid preprocessing function, using identity")
             preprocess_func = identity()
 
+        direction = (
+            ScanDirections.FORWARD
+            if await self.scan_direction.get_value() == 0
+            else ScanDirections.REVERSE
+        )
+
         sample_detection = MxSampleDetect(
             preprocess=preprocess_func,
-            canny_lower=await self.canny_lower.get_value(),
-            canny_upper=await self.canny_upper.get_value(),
+            canny_lower=await self.canny_lower_threshold.get_value(),
+            canny_upper=await self.canny_upper_threshold.get_value(),
             close_ksize=await self.close_ksize.get_value(),
             close_iterations=await self.close_iterations.get_value(),
-            scan_direction=await self.scan_direction.get_value(),
+            scan_direction=direction,
             min_tip_height=await self.min_tip_height.get_value(),
         )
 
@@ -121,8 +132,7 @@ async def _get_tip_position(
             tip_y = location.tip_y
         except Exception as e:
             LOGGER.error(f"Failed to detect pin-tip location due to exception: {e}")
-            tip_x = None
-            tip_y = None
+            tip_x, tip_y = self.INVALID_POSITION
 
         return (tip_x, tip_y), timestamp
 
@@ -131,13 +141,13 @@ async def connect(self, sim: bool = False):
 
         # Set defaults for soft parameters
         await self.timeout.set(10.0)
-        await self.canny_upper.set(100)
-        await self.canny_lower.set(50)
+        await self.canny_upper_threshold.set(100)
+        await self.canny_lower_threshold.set(50)
         await self.close_iterations.set(5)
         await self.close_ksize.set(5)
         await self.scan_direction.set(ScanDirections.FORWARD.value)
         await self.min_tip_height.set(5)
-        await self.preprocess.set(10)  # Identity function
+        await self.preprocess_operation.set(10)  # Identity function
         await self.preprocess_iterations.set(5)
         await self.preprocess_ksize.set(5)
 

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

@@ -112,7 +112,7 @@ def __init__(
         canny_lower: int = 50,
         close_ksize: int = 5,
         close_iterations: int = 5,
-        scan_direction: int = 1,
+        scan_direction: ScanDirections = ScanDirections.FORWARD,
         min_tip_height: int = 5,
     ):
         """
@@ -126,7 +126,7 @@ def __init__(
             canny_lower: lower threshold for canny edge detection
             close_ksize: kernel size for "close" operation
             close_iterations: number of iterations for "close" operation
-            scan_direction: +1 for left-to-right, -1 for right-to-left
+            scan_direction: ScanDirections.FORWARD for left-to-right, ScanDirections.REVERSE for right-to-left
             min_tip_height: minimum height of pin tip
         """
 
@@ -135,14 +135,6 @@ def __init__(
         self.canny_lower = canny_lower
         self.close_ksize = close_ksize
         self.close_iterations = close_iterations
-
-        if scan_direction not in [
-            ScanDirections.FORWARD.value,
-            ScanDirections.REVERSE.value,
-        ]:
-            raise ValueError(
-                "Invalid scan direction, expected +1 for left-to-right or -1 for right-to-left"
-            )
         self.scan_direction = scan_direction
 
         self.min_tip_height = min_tip_height
@@ -221,7 +213,7 @@ def _locate_sample(self, edge_arr: np.ndarray) -> SampleLocation:
             )
 
         # Choose our starting point - i.e. first column with non-narrow width for positive scan, last one for negative scan.
-        if self.scan_direction == ScanDirections.FORWARD.value:
+        if self.scan_direction == ScanDirections.FORWARD:
             start_column = int(column_indices_with_non_narrow_widths[0])
         else:
             start_column = int(column_indices_with_non_narrow_widths[-1])
@@ -230,20 +222,20 @@ def _locate_sample(self, edge_arr: np.ndarray) -> SampleLocation:
 
         # Move backwards to where there were no edges at all...
         while top[x] != NONE_VALUE:
-            x += -self.scan_direction
+            x += -self.scan_direction.value
             if x == -1 or x == width:
                 # (In this case the sample is off the edge of the picture.)
                 LOGGER.warning(
                     "pin-tip detection: Pin tip may be outside image area - assuming at edge."
                 )
                 break
-        x += self.scan_direction  # ...and forward one step. x is now at the tip.
+        x += self.scan_direction.value  # ...and forward one step. x is now at the tip.
 
         tip_x = x
         tip_y = int(round(0.5 * (top[x] + bottom[x])))
 
         # clear edges to the left (right) of the tip.
-        if self.scan_direction == 1:
+        if self.scan_direction.value == 1:
             top[:x] = NONE_VALUE
             bottom[:x] = NONE_VALUE
         else:

tests/devices/unit_tests/oav/image_recognition/test_pin_tip_detect.py

@@ -29,13 +29,13 @@ async def test_soft_parameter_defaults_are_correct():
     device = await _get_pin_tip_detection_device()
 
     assert await device.timeout.get_value() == 10.0
-    assert await device.canny_lower.get_value() == 50
-    assert await device.canny_upper.get_value() == 100
+    assert await device.canny_lower_threshold.get_value() == 50
+    assert await device.canny_upper_threshold.get_value() == 100
     assert await device.close_ksize.get_value() == 5
     assert await device.close_iterations.get_value() == 5
     assert await device.min_tip_height.get_value() == 5
     assert await device.scan_direction.get_value() == 1
-    assert await device.preprocess.get_value() == 10
+    assert await device.preprocess_operation.get_value() == 10
     assert await device.preprocess_iterations.get_value() == 5
     assert await device.preprocess_ksize.get_value() == 5
 
@@ -45,24 +45,24 @@ async def test_numeric_soft_parameters_can_be_changed():
     device = await _get_pin_tip_detection_device()
 
     await device.timeout.set(100.0)
-    await device.canny_lower.set(5)
-    await device.canny_upper.set(10)
+    await device.canny_lower_threshold.set(5)
+    await device.canny_upper_threshold.set(10)
     await device.close_ksize.set(15)
     await device.close_iterations.set(20)
     await device.min_tip_height.set(25)
     await device.scan_direction.set(-1)
-    await device.preprocess.set(2)
+    await device.preprocess_operation.set(2)
     await device.preprocess_ksize.set(3)
     await device.preprocess_iterations.set(4)
 
     assert await device.timeout.get_value() == 100.0
-    assert await device.canny_lower.get_value() == 5
-    assert await device.canny_upper.get_value() == 10
+    assert await device.canny_lower_threshold.get_value() == 5
+    assert await device.canny_upper_threshold.get_value() == 10
     assert await device.close_ksize.get_value() == 15
     assert await device.close_iterations.get_value() == 20
     assert await device.min_tip_height.get_value() == 25
     assert await device.scan_direction.get_value() == -1
-    assert await device.preprocess.get_value() == 2
+    assert await device.preprocess_operation.get_value() == 2
     assert await device.preprocess_ksize.get_value() == 3
     assert await device.preprocess_iterations.get_value() == 4
 
@@ -71,7 +71,7 @@ async def test_numeric_soft_parameters_can_be_changed():
 async def test_invalid_processing_func_uses_identity_function():
     device = await _get_pin_tip_detection_device()
 
-    set_sim_value(device.preprocess, 50)  # Invalid index
+    set_sim_value(device.preprocess_operation, 50)  # Invalid index
 
     with patch.object(
         MxSampleDetect, "__init__", return_value=None

tests/devices/unit_tests/oav/image_recognition/test_pin_tip_detect_utils.py

@@ -1,7 +1,11 @@
 import numpy as np
 import pytest
 
-from dodal.devices.oav.pin_image_recognition.utils import NONE_VALUE, MxSampleDetect
+from dodal.devices.oav.pin_image_recognition.utils import (
+    NONE_VALUE,
+    MxSampleDetect,
+    ScanDirections,
+)
 
 
 def test_locate_sample_simple_forward():
@@ -44,9 +48,9 @@ def test_locate_sample_simple_reverse():
         dtype=np.int32,
     )
 
-    location = MxSampleDetect(min_tip_height=1, scan_direction=-1)._locate_sample(
-        test_arr
-    )
+    location = MxSampleDetect(
+        min_tip_height=1, scan_direction=ScanDirections.REVERSE
+    )._locate_sample(test_arr)
 
     assert location.edge_top is not None
     assert location.edge_bottom is not None
@@ -92,7 +96,9 @@ def test_locate_sample_no_edges():
     assert location.tip_y is None
 
 
-@pytest.mark.parametrize("direction,x_centre", [(1, 0), (-1, 4)])
+@pytest.mark.parametrize(
+    "direction,x_centre", [(ScanDirections.FORWARD, 0), (ScanDirections.REVERSE, 4)]
+)
 def test_locate_sample_tip_off_screen(direction, x_centre):
     test_arr = np.array(
         [
@@ -147,9 +153,7 @@ def test_locate_sample_with_min_tip_height(
         dtype=np.int32,
     )
 
-    location = MxSampleDetect(
-        min_tip_height=min_tip_width, scan_direction=1
-    )._locate_sample(test_arr)
+    location = MxSampleDetect(min_tip_height=min_tip_width)._locate_sample(test_arr)
 
     assert location.edge_top is not None
     assert location.edge_bottom is not None