Merge branch 'main' into dodal_398_ophyd_async_mirrors

setup.cfg

@@ -33,7 +33,7 @@ install_requires =
     xarray
     doct
     databroker
-    dls-dodal @ git+https://github.com/DiamondLightSource/dodal.git@0ac0ad6131dd268b0e1693b2daf67cdc238b0e9d
+    dls-dodal @ git+https://github.com/DiamondLightSource/dodal.git@890027c1bcd95f8fe35576630e320b97b7959006
     pydantic<2.0 # See https://github.com/DiamondLightSource/hyperion/issues/774
     scipy
     pyzmq<25 # See https://github.com/DiamondLightSource/hyperion/issues/1103

tests/conftest.py

@@ -1,11 +1,13 @@
+import asyncio
 import json
 import logging
 import sys
 import threading
 from functools import partial
 from typing import Any, Callable, Generator, Optional, Sequence
-from unittest.mock import MagicMock, patch
+from unittest.mock import AsyncMock, MagicMock, patch
 
+import bluesky.plan_stubs as bps
 import pytest
 from bluesky.run_engine import RunEngine
 from bluesky.utils import Msg
@@ -41,6 +43,7 @@
 from ophyd.status import DeviceStatus, Status
 from ophyd_async.core import set_sim_value
 from ophyd_async.core.async_status import AsyncStatus
+from ophyd_async.epics.motion.motor import Motor
 from scanspec.core import Path as ScanPath
 from scanspec.specs import Line
 
@@ -181,6 +184,26 @@ def patch_motor(motor: EpicsMotor):
     return patch.object(motor, "set", MagicMock(side_effect=partial(mock_set, motor)))
 
 
+async def mock_good_coroutine():
+    return asyncio.sleep(0)
+
+
+def mock_async_motor_move(motor: Motor, val, *args, **kwargs):
+    set_sim_value(motor.user_setpoint, val)
+    set_sim_value(motor.user_readback, val)
+    return mock_good_coroutine()  # type: ignore
+
+
+def patch_async_motor(motor: Motor, initial_position=0):
+    set_sim_value(motor.user_setpoint, initial_position)
+    set_sim_value(motor.user_readback, initial_position)
+    set_sim_value(motor.deadband, 0.001)
+    set_sim_value(motor.motor_done_move, 1)
+    return patch.object(
+        motor, "_move", AsyncMock(side_effect=partial(mock_async_motor_move, motor))
+    )
+
+
 @pytest.fixture
 def beamline_parameters():
     return GDABeamlineParameters.from_file(
@@ -433,7 +456,7 @@ def webcam(RE) -> Generator[Webcam, Any, Any]:
 
 
 @pytest.fixture
-def aperture_scatterguard(done_status):
+def aperture_scatterguard(done_status, RE):
     AperturePositions.LARGE = SingleAperturePosition(
         location=ApertureFiveDimensionalLocation(0, 1, 2, 3, 4),
         name="Large",
@@ -467,16 +490,14 @@ def aperture_scatterguard(done_status):
             AperturePositions.ROBOT_LOAD,
         ),
     )
-    ap_sg.aperture.z.user_setpoint.sim_put(2)  # type: ignore
-    ap_sg.aperture.z.motor_done_move.sim_put(1)  # type: ignore
     with (
-        patch_motor(ap_sg.aperture.x),
-        patch_motor(ap_sg.aperture.y),
-        patch_motor(ap_sg.aperture.z),
-        patch_motor(ap_sg.scatterguard.x),
-        patch_motor(ap_sg.scatterguard.y),
+        patch_async_motor(ap_sg.aperture.x),
+        patch_async_motor(ap_sg.aperture.y),
+        patch_async_motor(ap_sg.aperture.z, 2),
+        patch_async_motor(ap_sg.scatterguard.x),
+        patch_async_motor(ap_sg.scatterguard.y),
     ):
-        ap_sg.set(ap_sg.aperture_positions.SMALL)  # type: ignore
+        RE(bps.abs_set(ap_sg, ap_sg.aperture_positions.SMALL))  # type: ignore
         yield ap_sg
 
 
@@ -622,15 +643,6 @@ def fake_fgs_composite(
     fake_composite.eiger.ALL_FRAMES_TIMEOUT = 2  # type: ignore
     fake_composite.eiger.stop_odin_when_all_frames_collected = MagicMock()
     fake_composite.eiger.odin.check_odin_state = lambda: True
-    fake_composite.aperture_scatterguard.aperture.x.user_setpoint._use_limits = False
-    fake_composite.aperture_scatterguard.aperture.y.user_setpoint._use_limits = False
-    fake_composite.aperture_scatterguard.aperture.z.user_setpoint._use_limits = False
-    fake_composite.aperture_scatterguard.scatterguard.x.user_setpoint._use_limits = (
-        False
-    )
-    fake_composite.aperture_scatterguard.scatterguard.y.user_setpoint._use_limits = (
-        False
-    )
 
     mock_gridscan_kickoff_complete(fake_composite.fast_grid_scan)
     mock_gridscan_kickoff_complete(fake_composite.panda_fast_grid_scan)

tests/unit_tests/experiment_plans/test_flyscan_xray_centre_plan.py

@@ -3,6 +3,7 @@
 from typing import Tuple
 from unittest.mock import DEFAULT, MagicMock, call, patch
 
+import bluesky.plan_stubs as bps
 import bluesky.preprocessors as bpp
 import numpy as np
 import pytest
@@ -212,8 +213,11 @@ def test_read_hardware_for_ispyb_updates_from_ophyd_devices(
         flux_test_value = 10.0
         fake_fgs_composite.flux.flux_reading.sim_put(flux_test_value)  # type: ignore
 
-        fake_fgs_composite.aperture_scatterguard.set(
-            fake_fgs_composite.aperture_scatterguard.aperture_positions.LARGE  # type: ignore
+        RE(
+            bps.abs_set(
+                fake_fgs_composite.aperture_scatterguard,
+                fake_fgs_composite.aperture_scatterguard.aperture_positions.LARGE,  # type: ignore
+            )
         )
 
         test_ispyb_callback = PlanReactiveCallback(ISPYB_LOGGER)