Merge branch 'main' into 207_calibrate_panda_encoders

src/mx_bluesky/hyperion/experiment_plans/flyscan_xray_centre_plan.py

@@ -112,11 +112,6 @@ class FlyScanXRayCentreComposite:
     robot: BartRobot
     sample_shutter: ZebraShutter
 
-    @property
-    def sample_motors(self) -> Smargon:
-        """Convenience alias with a more user-friendly name"""
-        return self.smargon
-
 
 class XRayCentreEventHandler(CallbackBase):
     def __init__(self):
@@ -225,16 +220,7 @@ def run_gridscan_and_fetch_results(
     """A multi-run plan which runs a gridscan, gets the results from zocalo
     and fires an event with the centres of mass determined by zocalo"""
 
-    # We get the initial motor positions so we can return to them on zocalo failure
-    initial_xyz = np.array(
-        [
-            (yield from bps.rd(fgs_composite.sample_motors.x)),
-            (yield from bps.rd(fgs_composite.sample_motors.y)),
-            (yield from bps.rd(fgs_composite.sample_motors.z)),
-        ]
-    )
-
-    yield from feature_controlled.setup_trigger(fgs_composite, parameters, initial_xyz)
+    yield from feature_controlled.setup_trigger(fgs_composite, parameters)
 
     LOGGER.info("Starting grid scan")
     yield from bps.stage(
@@ -331,11 +317,9 @@ def run_gridscan(
         "plan_name": CONST.PLAN.GRIDSCAN_MAIN,
     },
 ):
-    sample_motors = fgs_composite.sample_motors
-
     # Currently gridscan only works for omega 0, see #
     with TRACER.start_span("moving_omega_to_0"):
-        yield from bps.abs_set(sample_motors.omega, 0)
+        yield from bps.abs_set(fgs_composite.smargon.omega, 0)
 
     # We only subscribe to the communicator callback for run_gridscan, so this is where
     # we should generate an event reading the values which need to be included in the
@@ -408,7 +392,6 @@ def __call__(
             self,
             fgs_composite: FlyScanXRayCentreComposite,
             parameters: HyperionThreeDGridScan,
-            initial_xyz: np.ndarray,
         ) -> MsgGenerator: ...
 
     setup_trigger: _ExtraSetup
@@ -469,7 +452,6 @@ def _panda_tidy(fgs_composite: FlyScanXRayCentreComposite):
 def _zebra_triggering_setup(
     fgs_composite: FlyScanXRayCentreComposite,
     parameters: HyperionThreeDGridScan,
-    initial_xyz: np.ndarray,
 ):
     yield from setup_zebra_for_gridscan(
         fgs_composite.zebra, fgs_composite.sample_shutter, wait=True
@@ -479,7 +461,6 @@ def _zebra_triggering_setup(
 def _panda_triggering_setup(
     fgs_composite: FlyScanXRayCentreComposite,
     parameters: HyperionThreeDGridScan,
-    initial_xyz: np.ndarray,
 ):
     LOGGER.info("Setting up Panda for flyscan")
 

src/mx_bluesky/hyperion/experiment_plans/grid_detect_then_xray_centre_plan.py

@@ -95,10 +95,6 @@ class GridDetectThenXRayCentreComposite:
     robot: BartRobot
     sample_shutter: ZebraShutter
 
-    @property
-    def sample_motors(self):
-        return self.smargon
-
 
 def create_devices(context: BlueskyContext) -> GridDetectThenXRayCentreComposite:
     return device_composite_from_context(context, GridDetectThenXRayCentreComposite)

src/mx_bluesky/hyperion/experiment_plans/load_centre_collect_full_plan.py

@@ -7,7 +7,6 @@
 from bluesky.preprocessors import run_decorator, set_run_key_decorator, subs_wrapper
 from bluesky.utils import MsgGenerator
 from dodal.devices.oav.oav_parameters import OAVParameters
-from dodal.devices.smargon import Smargon
 
 import mx_bluesky.hyperion.experiment_plans.common.xrc_result as flyscan_result
 from mx_bluesky.common.utils.log import LOGGER
@@ -35,10 +34,6 @@
 class LoadCentreCollectComposite(RobotLoadThenCentreComposite, RotationScanComposite):
     """Composite that provides access to the required devices."""
 
-    @property
-    def sample_motors(self) -> Smargon:
-        return self.smargon
-
 
 def create_devices(context: BlueskyContext) -> LoadCentreCollectComposite:
     """Create the necessary devices for the plan."""

src/mx_bluesky/hyperion/experiment_plans/robot_load_then_centre_plan.py

@@ -104,10 +104,6 @@ class RobotLoadThenCentreComposite:
     lower_gonio: XYZPositioner
     beamstop: Beamstop
 
-    @property
-    def sample_motors(self):
-        return self.smargon
-
 
 def create_devices(context: BlueskyContext) -> RobotLoadThenCentreComposite:
     from mx_bluesky.hyperion.utils.context import device_composite_from_context

tests/system_tests/hyperion/experiment_plans/test_fgs_plan.py

@@ -298,18 +298,9 @@ def zocalo_trigger():
     RE(flyscan_xray_centre(fxc_composite, params))
 
     # The following numbers are derived from the centre returned in fake_zocalo
-    assert (
-        await fxc_composite.sample_motors.x.user_readback.get_value()
-        == pytest.approx(-1)
-    )
-    assert (
-        await fxc_composite.sample_motors.y.user_readback.get_value()
-        == pytest.approx(-1)
-    )
-    assert (
-        await fxc_composite.sample_motors.z.user_readback.get_value()
-        == pytest.approx(-1)
-    )
+    assert await fxc_composite.smargon.x.user_readback.get_value() == pytest.approx(-1)
+    assert await fxc_composite.smargon.y.user_readback.get_value() == pytest.approx(-1)
+    assert await fxc_composite.smargon.z.user_readback.get_value() == pytest.approx(-1)
 
 
 @pytest.mark.s03
@@ -336,15 +327,12 @@ async def test_complete_xray_centre_plan_with_callbacks_moves_to_centre(
     RE(flyscan_xray_centre(fxc_composite, params))
 
     # The following numbers are derived from the centre returned in fake_zocalo
-    assert (
-        await fxc_composite.sample_motors.x.user_readback.get_value()
-        == pytest.approx(0.05)
+    assert await fxc_composite.smargon.x.user_readback.get_value() == pytest.approx(
+        0.05
     )
-    assert (
-        await fxc_composite.sample_motors.y.user_readback.get_value()
-        == pytest.approx(0.15)
+    assert await fxc_composite.smargon.y.user_readback.get_value() == pytest.approx(
+        0.15
     )
-    assert (
-        await fxc_composite.sample_motors.z.user_readback.get_value()
-        == pytest.approx(0.25)
+    assert await fxc_composite.smargon.z.user_readback.get_value() == pytest.approx(
+        0.25
     )

tests/unit_tests/hyperion/device_setup_plans/test_manipulate_sample.py

@@ -67,14 +67,14 @@ def test_move_x_y_z(
     motor_position: list[float],
     expected_moves: list[float | None],
 ):
-    RE(move_x_y_z(fake_fgs_composite.sample_motors, *motor_position))  # type: ignore
+    RE(move_x_y_z(fake_fgs_composite.smargon, *motor_position))  # type: ignore
     expected_calls = [
         call(axis, pos, group="move_x_y_z")
         for axis, pos in zip(
             [
-                fake_fgs_composite.sample_motors.x,
-                fake_fgs_composite.sample_motors.y,
-                fake_fgs_composite.sample_motors.z,
+                fake_fgs_composite.smargon.x,
+                fake_fgs_composite.smargon.y,
+                fake_fgs_composite.smargon.z,
             ],
             expected_moves,
             strict=False,
@@ -108,14 +108,14 @@ def test_move_phi_chi_omega(
     motor_position: list[float],
     expected_moves: list[float | None],
 ):
-    RE(move_phi_chi_omega(fake_fgs_composite.sample_motors, *motor_position))  # type: ignore
+    RE(move_phi_chi_omega(fake_fgs_composite.smargon, *motor_position))  # type: ignore
     expected_calls = [
         call(axis, pos, group="move_phi_chi_omega")
         for axis, pos in zip(
             [
-                fake_fgs_composite.sample_motors.phi,
-                fake_fgs_composite.sample_motors.chi,
-                fake_fgs_composite.sample_motors.omega,
+                fake_fgs_composite.smargon.phi,
+                fake_fgs_composite.smargon.chi,
+                fake_fgs_composite.smargon.omega,
             ],
             expected_moves,
             strict=False,

tests/unit_tests/hyperion/experiment_plans/test_flyscan_xray_centre_plan.py

@@ -201,9 +201,7 @@ def test_when_run_gridscan_called_ispyb_deposition_made_and_records_errors(
 
         error = None
         with pytest.raises(FailedStatus) as exc:
-            with patch.object(
-                fake_fgs_composite.sample_motors.omega, "set"
-            ) as mock_set:
+            with patch.object(fake_fgs_composite.smargon.omega, "set") as mock_set:
                 error = AssertionError("Test Exception")
                 mock_set.return_value = FailedStatus(error)
 
@@ -415,7 +413,7 @@ def test_results_adjusted_and_passed_to_move_xyz(
         move_aperture.assert_has_calls([ap_call_large, ap_call_large, ap_call_medium])
 
         mv_to_centre = call(
-            fgs_composite_with_panda_pcap.sample_motors,
+            fgs_composite_with_panda_pcap.smargon,
             0.05,
             pytest.approx(0.15),
             0.25,
@@ -438,21 +436,21 @@ def test_results_passed_to_move_motors(
         motor_position = test_fgs_params.FGS_params.grid_position_to_motor_position(
             np.array([1, 2, 3])
         )
-        RE(move_x_y_z(fake_fgs_composite.sample_motors, *motor_position))
+        RE(move_x_y_z(fake_fgs_composite.smargon, *motor_position))
         bps_abs_set.assert_has_calls(
             [
                 call(
-                    fake_fgs_composite.sample_motors.x,
+                    fake_fgs_composite.smargon.x,
                     motor_position[0],
                     group="move_x_y_z",
                 ),
                 call(
-                    fake_fgs_composite.sample_motors.y,
+                    fake_fgs_composite.smargon.y,
                     motor_position[1],
                     group="move_x_y_z",
                 ),
                 call(
-                    fake_fgs_composite.sample_motors.z,
+                    fake_fgs_composite.smargon.z,
                     motor_position[2],
                     group="move_x_y_z",
                 ),