Merge branch 'main' into dodal_398_ophyd_async_mirrors

src/hyperion/device_setup_plans/read_hardware_for_setup.py

@@ -31,7 +31,6 @@ def read_hardware_for_ispyb_pre_collection(
     yield from bps.read(s4_slit_gaps.xgap)
     yield from bps.read(s4_slit_gaps.ygap)
     yield from bps.read(aperture_scatterguard)
-    yield from bps.read(robot.barcode)
     yield from bps.save()
 
 

src/hyperion/device_setup_plans/setup_panda.py

@@ -5,7 +5,7 @@
 from dodal.devices.panda_fast_grid_scan import PandAGridScanParams
 from ophyd_async.core import load_device
 from ophyd_async.panda import (
-    PandA,
+    HDFPanda,
     SeqTable,
     SeqTableRow,
     SeqTrigger,
@@ -109,7 +109,7 @@ def get_seq_table(
 
 
 def setup_panda_for_flyscan(
-    panda: PandA,
+    panda: HDFPanda,
     config_yaml_path: str,
     parameters: PandAGridScanParams,
     initial_x: float,
@@ -123,7 +123,7 @@ def setup_panda_for_flyscan(
     created using ophyd_async.core.save_device()
 
     Args:
-        panda (PandA): The PandA Ophyd device
+        panda (HDFPanda): The PandA Ophyd device
         config_yaml_path (str): Path to the yaml file containing the desired PandA PVs
         parameters (PandAGridScanParams): Grid parameters
         initial_x (float): Motor positions at time of PandA setup
@@ -161,8 +161,6 @@ def setup_panda_for_flyscan(
 
     table = get_seq_table(parameters, exposure_distance_mm)
 
-    LOGGER.info(f"Setting PandA sequencer values: {str(table)}")
-
     yield from bps.abs_set(panda.seq[1].table, table, group="panda-config")
 
     yield from bps.abs_set(
@@ -174,15 +172,20 @@ def setup_panda_for_flyscan(
     # Values need to be set before blocks are enabled, so wait here
     yield from bps.wait(group="panda-config", timeout=GENERAL_TIMEOUT)
 
+    LOGGER.info(f"PandA sequencer table has been set to: {str(table)}")
+    table_readback = yield from bps.rd(panda.seq[1].table)
+    LOGGER.debug(f"PandA sequencer table readback is: {str(table_readback)}")
+
     yield from arm_panda_for_gridscan(panda)
 
 
-def arm_panda_for_gridscan(panda: PandA, group="arm_panda_gridscan"):
+def arm_panda_for_gridscan(panda: HDFPanda, group="arm_panda_gridscan"):
     yield from bps.abs_set(panda.seq[1].enable, Enabled.ENABLED.value, group=group)  # type: ignore
     yield from bps.abs_set(panda.pulse[1].enable, Enabled.ENABLED.value, group=group)  # type: ignore
     yield from bps.abs_set(panda.counter[1].enable, Enabled.ENABLED.value, group=group)  # type: ignore
     yield from bps.abs_set(panda.pcap.arm, PcapArm.ARMED.value, group=group)  # type: ignore
     yield from bps.wait(group=group, timeout=GENERAL_TIMEOUT)
+    LOGGER.info("PandA has been armed")
 
 
 def disarm_panda_for_gridscan(panda, group="disarm_panda_gridscan") -> MsgGenerator:

src/hyperion/experiment_plans/flyscan_xray_centre_plan.py

@@ -1,6 +1,7 @@
 from __future__ import annotations
 
 import dataclasses
+from time import time
 from typing import TYPE_CHECKING, Any, List, Union
 
 import bluesky.plan_stubs as bps
@@ -33,7 +34,7 @@
     get_processing_result,
 )
 from dodal.plans.check_topup import check_topup_and_wait_if_necessary
-from ophyd_async.panda import PandA
+from ophyd_async.panda import HDFPanda
 
 from hyperion.device_setup_plans.manipulate_sample import move_x_y_z
 from hyperion.device_setup_plans.read_hardware_for_setup import (
@@ -85,7 +86,7 @@ class FlyScanXRayCentreComposite:
     xbpm_feedback: XBPMFeedback
     zebra: Zebra
     zocalo: ZocaloResults
-    panda: PandA
+    panda: HDFPanda
     panda_fast_grid_scan: PandAFastGridScan
     robot: BartRobot
 
@@ -196,13 +197,19 @@ def do_fgs():
         yield from bps.wait()
         LOGGER.info("kicking off FGS")
         yield from bps.kickoff(gridscan, wait=True)
+        gridscan_start_time = time()
         LOGGER.info("Waiting for Zocalo device queue to have been cleared...")
         yield from bps.wait(
             ZOCALO_STAGE_GROUP
         )  # Make sure ZocaloResults queue is clear and ready to accept our new data
         LOGGER.info("completing FGS")
         yield from bps.complete(gridscan, wait=True)
 
+        # Remove this logging statement once metrics have been added
+        LOGGER.info(
+            f"Gridscan motion program took {round(time()-gridscan_start_time,2)} to complete"
+        )
+
     yield from do_fgs()
 
 

src/hyperion/experiment_plans/grid_detect_then_xray_centre_plan.py

@@ -2,6 +2,7 @@
 
 import dataclasses
 import json
+from pathlib import Path
 
 from blueapi.core import BlueskyContext, MsgGenerator
 from bluesky import plan_stubs as bps
@@ -26,7 +27,7 @@
 from dodal.devices.xbpm_feedback import XBPMFeedback
 from dodal.devices.zebra import Zebra
 from dodal.devices.zocalo import ZocaloResults
-from ophyd_async.panda import PandA
+from ophyd_async.panda import HDFPanda
 
 from hyperion.device_setup_plans.utils import (
     start_preparing_data_collection_then_do_plan,
@@ -87,7 +88,7 @@ class GridDetectThenXRayCentreComposite:
     xbpm_feedback: XBPMFeedback
     zebra: Zebra
     zocalo: ZocaloResults
-    panda: PandA
+    panda: HDFPanda
     panda_fast_grid_scan: PandAFastGridScan
     robot: BartRobot
 
@@ -156,7 +157,7 @@ def _detect_grid_and_do_gridscan(
     def run_grid_detection_plan(
         oav_params,
         snapshot_template,
-        snapshot_dir,
+        snapshot_dir: Path,
     ):
         grid_detect_composite = OavGridDetectionComposite(
             backlight=composite.backlight,
@@ -169,7 +170,7 @@ def run_grid_detection_plan(
             grid_detect_composite,
             oav_params,
             snapshot_template,
-            snapshot_dir,
+            str(snapshot_dir),
             grid_width_microns=parameters.grid_width_um,
         )
 

src/hyperion/experiment_plans/oav_grid_detection_plan.py

@@ -156,7 +156,6 @@ def grid_detection_plan(
         yield from bps.abs_set(oav.snapshot.filename, snapshot_filename)
         yield from bps.abs_set(oav.snapshot.directory, snapshot_dir)
         yield from bps.trigger(oav.snapshot, wait=True)
-
         yield from bps.create(CONST.DESCRIPTORS.OAV_SNAPSHOT_TRIGGERED)
 
         yield from bps.read(oav.snapshot)

src/hyperion/experiment_plans/panda_flyscan_xray_centre_plan.py

@@ -1,11 +1,13 @@
 from __future__ import annotations
 
+from pathlib import Path
 from typing import TYPE_CHECKING, Any, Union
 
 import bluesky.plan_stubs as bps
 import bluesky.preprocessors as bpp
 import numpy as np
 from blueapi.core import BlueskyContext, MsgGenerator
+from dodal.common import udc_directory_provider
 from dodal.devices.panda_fast_grid_scan import (
     set_fast_grid_scan_params as set_flyscan_params,
 )
@@ -57,7 +59,7 @@
 )
 
 PANDA_SETUP_PATH = (
-    "/dls_sw/i03/software/daq_configuration/panda_configs/flyscan_base.yaml"
+    "/dls_sw/i03/software/daq_configuration/panda_configs/flyscan_pcap_ignore_seq.yaml"
 )
 
 
@@ -194,6 +196,9 @@ def run_gridscan_and_move(
         time_between_x_steps_ms,
     )
 
+    udc_directory_provider.set_directory(
+        Path(parameters.hyperion_params.detector_params.directory)
+    )
     yield from setup_panda_for_flyscan(
         fgs_composite.panda,
         PANDA_SETUP_PATH,

src/hyperion/experiment_plans/robot_load_then_centre_plan.py

@@ -2,6 +2,7 @@
 
 import dataclasses
 import json
+from datetime import datetime
 from typing import cast
 
 import bluesky.plan_stubs as bps
@@ -26,10 +27,11 @@
 from dodal.devices.synchrotron import Synchrotron
 from dodal.devices.undulator import Undulator
 from dodal.devices.undulator_dcm import UndulatorDCM
+from dodal.devices.webcam import Webcam
 from dodal.devices.xbpm_feedback import XBPMFeedback
 from dodal.devices.zebra import Zebra
 from dodal.devices.zocalo import ZocaloResults
-from ophyd_async.panda import PandA
+from ophyd_async.panda import HDFPanda
 
 from hyperion.device_setup_plans.utils import (
     start_preparing_data_collection_then_do_plan,
@@ -77,7 +79,7 @@ class RobotLoadThenCentreComposite:
     undulator: Undulator
     zebra: Zebra
     zocalo: ZocaloResults
-    panda: PandA
+    panda: HDFPanda
     panda_fast_grid_scan: PandAFastGridScan
 
     # SetEnergyComposite fields
@@ -88,6 +90,7 @@ class RobotLoadThenCentreComposite:
 
     # RobotLoad fields
     robot: BartRobot
+    webcam: Webcam
 
 
 def create_devices(context: BlueskyContext) -> RobotLoadThenCentreComposite:
@@ -115,6 +118,18 @@ def wait_for_smargon_not_disabled(smargon: Smargon, timeout=60):
     )
 
 
+def take_robot_snapshots(oav: OAV, webcam: Webcam, directory: str):
+    time_now = datetime.now()
+    snapshot_format = f"{time_now.strftime('%H%M%S')}_{{device}}_after_load"
+    for device in [oav.snapshot, webcam]:
+        yield from bps.abs_set(
+            device.filename, snapshot_format.format(device=device.name)
+        )
+        yield from bps.abs_set(device.directory, directory)
+        yield from bps.trigger(device, group="snapshots")
+    yield from bps.wait("snapshots")
+
+
 def prepare_for_robot_load(composite: RobotLoadThenCentreComposite):
     yield from bps.abs_set(
         composite.aperture_scatterguard,
@@ -174,8 +189,14 @@ def robot_load():
 
         yield from bps.wait("robot_load")
 
+        yield from take_robot_snapshots(
+            composite.oav, composite.webcam, parameters.experiment_params.snapshot_dir
+        )
+
         yield from bps.create(name=CONST.DESCRIPTORS.ROBOT_LOAD)
         yield from bps.read(composite.robot.barcode)
+        yield from bps.read(composite.oav.snapshot)
+        yield from bps.read(composite.webcam)
         yield from bps.save()
 
         yield from wait_for_smargon_not_disabled(composite.smargon)

src/hyperion/external_interaction/callbacks/common/ispyb_mapping.py

@@ -23,16 +23,12 @@
 
 
 def populate_data_collection_group(
-    experiment_type: str,
-    detector_params: DetectorParams,
-    ispyb_params: IspybParams,
-    sample_barcode: Optional[str] = None,
+    experiment_type: str, detector_params: DetectorParams, ispyb_params: IspybParams
 ):
     dcg_info = DataCollectionGroupInfo(
         visit_string=get_visit_string(ispyb_params, detector_params),
         experiment_type=experiment_type,
         sample_id=ispyb_params.sample_id,
-        sample_barcode=sample_barcode,
     )
     return dcg_info