Merge pull request #1250 from DiamondLightSource/1234_robot_load

Added initial robot load code

setup.cfg

@@ -35,7 +35,7 @@ install_requires =
     xarray
     doct
     databroker
-    dls-dodal @ git+https://github.com/DiamondLightSource/dodal.git@288697d744a1d745dc865889960063e575c59b21
+    dls-dodal @ git+https://github.com/DiamondLightSource/dodal.git@a8034f3e170720cb7078a2d08871c5cb06b8cc54
     pydantic<2.0 # See https://github.com/DiamondLightSource/hyperion/issues/774
     scipy
     pyzmq<25 # See https://github.com/DiamondLightSource/hyperion/issues/1103

src/hyperion/experiment_plans/__init__.py

@@ -13,16 +13,16 @@
 from hyperion.experiment_plans.pin_centre_then_xray_centre_plan import (
     pin_tip_centre_then_xray_centre,
 )
-from hyperion.experiment_plans.rotation_scan_plan import rotation_scan
-from hyperion.experiment_plans.wait_for_robot_load_then_centre_plan import (
-    wait_for_robot_load_then_centre,
+from hyperion.experiment_plans.robot_load_then_centre_plan import (
+    robot_load_then_centre,
 )
+from hyperion.experiment_plans.rotation_scan_plan import rotation_scan
 
 __all__ = [
     "flyscan_xray_centre",
     "grid_detect_then_xray_centre",
     "rotation_scan",
     "pin_tip_centre_then_xray_centre",
-    "wait_for_robot_load_then_centre",
+    "robot_load_then_centre",
     "panda_flyscan_xray_centre",
 ]

src/hyperion/experiment_plans/experiment_registry.py

@@ -12,7 +12,7 @@
 from hyperion.experiment_plans import (
     grid_detect_then_xray_centre_plan,
     pin_centre_then_xray_centre_plan,
-    wait_for_robot_load_then_centre_plan,
+    robot_load_then_centre_plan,
 )
 from hyperion.external_interaction.callbacks.common.callback_util import (
     CallbacksFactory,
@@ -33,14 +33,14 @@
     PinCentreThenXrayCentreInternalParameters,
     PinCentreThenXrayCentreParams,
 )
+from hyperion.parameters.plan_specific.robot_load_then_center_params import (
+    RobotLoadThenCentreInternalParameters,
+    RobotLoadThenCentreParams,
+)
 from hyperion.parameters.plan_specific.rotation_scan_internal_params import (
     RotationInternalParameters,
     RotationScanParams,
 )
-from hyperion.parameters.plan_specific.wait_for_robot_load_then_center_params import (
-    WaitForRobotLoadThenCentreInternalParameters,
-    WaitForRobotLoadThenCentreParams,
-)
 
 
 def not_implemented():
@@ -58,7 +58,7 @@ class ExperimentRegistryEntry(TypedDict):
         | GridScanWithEdgeDetectInternalParameters
         | RotationInternalParameters
         | PinCentreThenXrayCentreInternalParameters
-        | WaitForRobotLoadThenCentreInternalParameters
+        | RobotLoadThenCentreInternalParameters
         | PandAGridscanInternalParameters
     ]
     experiment_param_type: type[AbstractExperimentParameterBase]
@@ -97,10 +97,10 @@ class ExperimentRegistryEntry(TypedDict):
         "experiment_param_type": PinCentreThenXrayCentreParams,
         "callbacks_factory": create_gridscan_callbacks,
     },
-    "wait_for_robot_load_then_centre": {
-        "setup": wait_for_robot_load_then_centre_plan.create_devices,
-        "internal_param_type": WaitForRobotLoadThenCentreInternalParameters,
-        "experiment_param_type": WaitForRobotLoadThenCentreParams,
+    "robot_load_then_centre": {
+        "setup": robot_load_then_centre_plan.create_devices,
+        "internal_param_type": RobotLoadThenCentreInternalParameters,
+        "experiment_param_type": RobotLoadThenCentreParams,
         "callbacks_factory": create_gridscan_callbacks,
     },
 }

src/hyperion/experiment_plans/wait_for_robot_load_then_centre_plan.py → src/hyperion/experiment_plans/robot_load_then_centre_plan.py

@@ -19,6 +19,7 @@
 from dodal.devices.oav.oav_detector import OAV
 from dodal.devices.oav.pin_image_recognition import PinTipDetection
 from dodal.devices.panda_fast_grid_scan import PandAFastGridScan
+from dodal.devices.robot import BartRobot, SampleLocation
 from dodal.devices.s4_slit_gaps import S4SlitGaps
 from dodal.devices.smargon import Smargon
 from dodal.devices.synchrotron import Synchrotron
@@ -47,14 +48,14 @@
 from hyperion.parameters.plan_specific.pin_centre_then_xray_centre_params import (
     PinCentreThenXrayCentreInternalParameters,
 )
-from hyperion.parameters.plan_specific.wait_for_robot_load_then_center_params import (
-    WaitForRobotLoadThenCentreInternalParameters,
+from hyperion.parameters.plan_specific.robot_load_then_center_params import (
+    RobotLoadThenCentreInternalParameters,
 )
 from hyperion.utils.utils import convert_eV_to_angstrom
 
 
 @dataclasses.dataclass
-class WaitForRobotLoadThenCentreComposite:
+class RobotLoadThenCentreComposite:
     # common fields
     xbpm_feedback: XBPMFeedback
     attenuator: Attenuator
@@ -83,11 +84,14 @@ class WaitForRobotLoadThenCentreComposite:
     dcm: DCM
     undulator_dcm: UndulatorDCM
 
+    # RobotLoad fields
+    robot: BartRobot
 
-def create_devices(context: BlueskyContext) -> WaitForRobotLoadThenCentreComposite:
+
+def create_devices(context: BlueskyContext) -> RobotLoadThenCentreComposite:
     from hyperion.utils.context import device_composite_from_context
 
-    return device_composite_from_context(context, WaitForRobotLoadThenCentreComposite)
+    return device_composite_from_context(context, RobotLoadThenCentreComposite)
 
 
 def wait_for_smargon_not_disabled(smargon: Smargon, timeout=60):
@@ -109,16 +113,27 @@ def wait_for_smargon_not_disabled(smargon: Smargon, timeout=60):
     )
 
 
-def wait_for_robot_load_then_centre_plan(
-    composite: WaitForRobotLoadThenCentreComposite,
-    parameters: WaitForRobotLoadThenCentreInternalParameters,
+def robot_load_then_centre_plan(
+    composite: RobotLoadThenCentreComposite,
+    parameters: RobotLoadThenCentreInternalParameters,
 ):
+    yield from bps.abs_set(
+        composite.robot,
+        SampleLocation(
+            parameters.experiment_params.sample_puck,
+            parameters.experiment_params.sample_pin,
+        ),
+        group="robot_load",
+    )
+
     if parameters.experiment_params.requested_energy_kev:
         yield from set_energy_plan(
             parameters.experiment_params.requested_energy_kev,
             cast(SetEnergyComposite, composite),
         )
 
+    yield from bps.wait("robot_load")
+
     yield from wait_for_smargon_not_disabled(composite.smargon)
 
     params_json = json.loads(parameters.json())
@@ -129,9 +144,9 @@ def wait_for_robot_load_then_centre_plan(
     )
 
 
-def wait_for_robot_load_then_centre(
-    composite: WaitForRobotLoadThenCentreComposite,
-    parameters: WaitForRobotLoadThenCentreInternalParameters,
+def robot_load_then_centre(
+    composite: RobotLoadThenCentreComposite,
+    parameters: RobotLoadThenCentreInternalParameters,
 ) -> MsgGenerator:
     eiger: EigerDetector = composite.eiger
 
@@ -160,5 +175,5 @@ def wait_for_robot_load_then_centre(
         eiger,
         composite.detector_motion,
         parameters.experiment_params.detector_distance,
-        wait_for_robot_load_then_centre_plan(composite, parameters),
+        robot_load_then_centre_plan(composite, parameters),
     )

src/hyperion/external_interaction/ispyb/ispyb_dataclass.py

@@ -42,14 +42,14 @@ class IspybParams(BaseModel):
     position: np.ndarray
 
     transmission_fraction: float
-    # populated by wait_for_robot_load_then_centre
+    # populated by robot_load_then_centre
     current_energy_ev: Optional[float]
     beam_size_x: float
     beam_size_y: float
     focal_spot_size_x: float
     focal_spot_size_y: float
     comment: str
-    # populated by wait_for_robot_load_then_centre
+    # populated by robot_load_then_centre
     resolution: Optional[float]
 
     sample_id: Optional[str] = None

src/hyperion/parameters/plan_specific/wait_for_robot_load_then_center_params.py → src/hyperion/parameters/plan_specific/robot_load_then_center_params.py

@@ -20,8 +20,8 @@
 )
 
 
-class WaitForRobotLoadThenCentreHyperionParameters(HyperionParameters):
-    ispyb_params: RobotLoadIspybParams = RobotLoadIspybParams(
+class RobotLoadThenCentreHyperionParameters(HyperionParameters):
+    ispyb_params: RobotLoadIspybParams = RobotLoadIspybParams(  # type: ignore
         **GRIDSCAN_ISPYB_PARAM_DEFAULTS
     )
 
@@ -34,7 +34,7 @@ class Config:
 
 
 @dataclass
-class WaitForRobotLoadThenCentreParams(AbstractExperimentParameterBase):
+class RobotLoadThenCentreParams(AbstractExperimentParameterBase):
     """
     Holder class for the parameters of a plan that waits for robot load then does a
     centre.
@@ -44,6 +44,10 @@ class WaitForRobotLoadThenCentreParams(AbstractExperimentParameterBase):
     detector_distance: float
     omega_start: float
     snapshot_dir: str
+
+    sample_puck: int
+    sample_pin: int
+
     requested_energy_kev: Optional[float] = None
 
     # Distance for the smargon to accelerate into the grid and decelerate out of the grid when using the panda
@@ -60,9 +64,9 @@ def get_num_images(self):
         return 0
 
 
-class WaitForRobotLoadThenCentreInternalParameters(InternalParameters):
-    experiment_params: WaitForRobotLoadThenCentreParams
-    hyperion_params: WaitForRobotLoadThenCentreHyperionParameters
+class RobotLoadThenCentreInternalParameters(InternalParameters):
+    experiment_params: RobotLoadThenCentreParams
+    hyperion_params: RobotLoadThenCentreHyperionParameters
 
     class Config:
         arbitrary_types_allowed = True
@@ -85,19 +89,17 @@ def _preprocess_experiment_params(
         cls,
         experiment_params: dict[str, Any],
     ):
-        return WaitForRobotLoadThenCentreParams(
+        return RobotLoadThenCentreParams(
             **extract_experiment_params_from_flat_dict(
-                WaitForRobotLoadThenCentreParams, experiment_params
+                RobotLoadThenCentreParams, experiment_params
             )
         )
 
     @validator("hyperion_params", pre=True)
     def _preprocess_hyperion_params(
         cls, all_params: dict[str, Any], values: dict[str, Any]
     ):
-        experiment_params: WaitForRobotLoadThenCentreParams = values[
-            "experiment_params"
-        ]
+        experiment_params: RobotLoadThenCentreParams = values["experiment_params"]
         all_params["num_images"] = 0
         all_params["exposure_time"] = experiment_params.exposure_time
         all_params["position"] = np.array(all_params["position"])
@@ -107,7 +109,7 @@ def _preprocess_hyperion_params(
         all_params["trigger_mode"] = TriggerMode.FREE_RUN
         all_params["upper_left"] = np.zeros(3, dtype=np.int32)
         all_params["expected_energy_ev"] = None
-        return WaitForRobotLoadThenCentreHyperionParameters(
+        return RobotLoadThenCentreHyperionParameters(
             **extract_hyperion_params_from_flat_dict(
                 all_params, cls._hyperion_param_key_definitions()
             )

src/hyperion/parameters/schemas/full_external_parameters_schema.json

@@ -24,7 +24,7 @@
                     "$ref": "experiment_schemas/grid_scan_with_edge_detect_params_schema.json"
                 },
                 {
-                    "$ref": "experiment_schemas/wait_for_robot_load_then_centre_schema.json"
+                    "$ref": "experiment_schemas/robot_load_then_centre_schema.json"
                 }
             ]
         }

tests/conftest.py

@@ -291,10 +291,11 @@ def ophyd_pin_tip_detection():
 
 
 @pytest.fixture
-def robot():
+def robot(done_status):
     RunEngine()  # A RE is needed to start the bluesky loop
     robot = i03.robot(fake_with_ophyd_sim=True)
     set_sim_value(robot.barcode.bare_signal, ["BARCODE"])
+    robot.set = MagicMock(return_value=done_status)
     return robot
 
 

tests/test_data/parameter_json_files/good_test_wait_for_robot_load_params.json → tests/test_data/parameter_json_files/good_test_robot_load_params.json

@@ -4,7 +4,7 @@
         "zocalo_environment": "artemis",
         "beamline": "BL03I",
         "insertion_prefix": "SR03S",
-        "experiment_type": "wait_for_robot_load_then_centre",
+        "experiment_type": "robot_load_then_centre",
         "detector_params": {
             "directory": "/tmp/",
             "prefix": "file_name",
@@ -38,6 +38,8 @@
         "detector_distance": 255,
         "snapshot_dir": "/tmp",
         "use_ophyd_pin_tip_detect": true,
-        "requested_energy_kev": 11.1
+        "requested_energy_kev": 11.1,
+        "sample_puck": 40,
+        "sample_pin": 3
     }
 }

tests/test_data/parameter_json_files/good_test_wait_for_robot_load_params_no_energy.json → tests/test_data/parameter_json_files/good_test_robot_load_params_no_energy.json

@@ -4,7 +4,7 @@
         "zocalo_environment": "artemis",
         "beamline": "BL03I",
         "insertion_prefix": "SR03S",
-        "experiment_type": "wait_for_robot_load_then_centre",
+        "experiment_type": "robot_load_then_centre",
         "detector_params": {
             "directory": "/tmp/",
             "prefix": "file_name",
@@ -37,6 +37,8 @@
         "omega_start": 0,
         "exposure_time": 0.004,
         "detector_distance": 255,
-        "snapshot_dir": "/tmp"
+        "snapshot_dir": "/tmp",
+        "sample_puck": 40,
+        "sample_pin": 3
     }
 }