dls-dodal 1.27.0__py3-none-any.whl → 1.28.0__py3-none-any.whl

{dls_dodal-1.27.0.dist-info → dls_dodal-1.28.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: dls-dodal
-Version: 1.27.0
+Version: 1.28.0
 Summary: Ophyd devices and other utils that could be used across DLS beamlines
 Author-email: Dominic Oram <dominic.oram@diamond.ac.uk>
 License: Apache License

{dls_dodal-1.27.0.dist-info → dls_dodal-1.28.0.dist-info}/RECORD

@@ -1,6 +1,6 @@
 dodal/__init__.py,sha256=y-VRpfiX-Lm5nchB9N0VfMy_6dwFqVxpSn5SiAQql9I,114
 dodal/__main__.py,sha256=kP2S2RPitnOWpNGokjZ1Yq-1umOtp5sNOZk2B3tBPLM,111
-dodal/_version.py,sha256=XlqTK6aXcDzaFgsrMUHCuU_TY8zt9cjwfCWklVgy2Hg,413
+dodal/_version.py,sha256=RW6USZoeFR_9ttdXBH9tb0lK1erQEYot3NzmBpWXDMs,413
 dodal/adsim.py,sha256=OW2dcS7ciD4Yq9WFw4PN_c5Bwccrmu7R-zr-u6ZCbQM,497
 dodal/cli.py,sha256=z0UBESrNrq6Kq4rttp4uHcwS1fnOnRkKBRDHSriPpGY,2058
 dodal/log.py,sha256=grK5-c-V6UjMERwDqYPdKbc_BpycrNb8hP0uteLOVCY,8296
@@ -9,14 +9,14 @@ dodal/beamline_specific_utils/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5N
 dodal/beamline_specific_utils/i03.py,sha256=Ixe1anFQl-kwRJubmQx28TIW4Zw8qDxpElNNNapWQHI,396
 dodal/beamlines/README.md,sha256=K9MkL_GomxlsoTB7Mz-_dJA5NNSbmCfMiutchGg3C8o,404
 dodal/beamlines/__init__.py,sha256=U0dQYFEUloCdQOs24zyfpPTncJXOO4cDcfHSevVOAw4,2890
-dodal/beamlines/i03.py,sha256=nOWm9iUYOwqUDAkBXC4UkYmN2GGD1MbTgyCCMO_YXBw,16394
+dodal/beamlines/i03.py,sha256=LcE9Vir0cCjt9pxO2wcevlM0NTP6NBCxp6DNtShPV0E,16914
 dodal/beamlines/i04.py,sha256=JOyNcUnC3wva4no2MHKp6b8gOKAcQXL_c4cBo7oneVs,13034
 dodal/beamlines/i04_1.py,sha256=KDxSUQNhIs_NFiRaLY-Jiory0DeN7Y0ErvGuoTrwCDU,4731
 dodal/beamlines/i20_1.py,sha256=XJpey1-XZnCVpjK6-tODRYeBofqV44BL8lK5OSdQgiI,746
-dodal/beamlines/i22.py,sha256=TlXgAuRYM4JS733tyZyLMYDyC7ajwg85_XzYI5qh46U,7574
+dodal/beamlines/i22.py,sha256=Lk5S5AHu9hCnqlJJHZj1fhSDm1sTOgEVMe1S20nVqeY,8786
 dodal/beamlines/i23.py,sha256=iEFkrA4sPQsRLGAmeD263jPMX4u2SF1NK4_KYqnVwow,1402
 dodal/beamlines/i24.py,sha256=LIe8tu_ZJsoeQH7tYRZHSvqQ9C9zBGOXO6rb1DPCYjQ,4595
-dodal/beamlines/p38.py,sha256=0uRL4GVs1sGobr0BZpDDbtStNJcipT6o4FvoA_OWLaE,7120
+dodal/beamlines/p38.py,sha256=TC78u4GwEnj6X0r5cnHhqNdBbbDRnh8lY8pEucBZjEU,8006
 dodal/beamlines/p45.py,sha256=TNIkC-SBfj0ayZtlLLXW9xCSi5CzJkO8XpAMIo8fjao,2957
 dodal/common/__init__.py,sha256=ZC4ICKUDB0BDxRaVy8nmqclVmDBne-dPtk6UJsoFq6I,258
 dodal/common/coordination.py,sha256=OxIjDiO1-9A9KESRPFtzwkvvQlavbgA5RHemlbubBPg,1168
@@ -40,15 +40,14 @@ dodal/devices/cryostream.py,sha256=6MU4rXIOL33C-8F3DVfAtv0ZnwiysTtawjkeePd5IrQ,3
 dodal/devices/dcm.py,sha256=vfyGYDzfSwTiNqlzkfNjkrL-Q1hNVSgJddvJ5Un_lvg,1610
 dodal/devices/eiger.py,sha256=NE4tHdqgUZpUxJLQbd5lLUIHZcpeotppexJGlDNByzM,13868
 dodal/devices/eiger_odin.py,sha256=U5Byb7uNwDdNscBRp7yBYQrsjKrKXl2l5WdSpL09lAw,6980
-dodal/devices/fast_grid_scan.py,sha256=_jsiUxpMO2rAGDhTFPN8J35e6E0oreLpKYi6W8wQGzs,12798
+dodal/devices/fast_grid_scan.py,sha256=qp0jdzhTjkDtaf7ngdPcegcFLlp1EmWUDbU_knCBDpc,13438
 dodal/devices/fluorescence_detector_motion.py,sha256=RrXfPmJzWnAjcjp9u0AnJEfjvWPMKburVTySB2hxYbw,181
 dodal/devices/flux.py,sha256=RtPStHw7Mad0igVKntKWVZfuZn2clokVJqH14HLix6M,198
 dodal/devices/focusing_mirror.py,sha256=aRqBkE3OgaXpH6lP3v1VbSYgHsMMbSsPPXzeyAGf_Pg,6435
 dodal/devices/ipin.py,sha256=OGMXwAE4KDDonZRPFkUmR9Vsk6X4Ox-hEvPT5drP-mQ,208
 dodal/devices/linkam3.py,sha256=TPhiQ1D9i_HIlKHAlfnVfX7H6aPOAeXPEJLdmvwdKWQ,3776
 dodal/devices/logging_ophyd_device.py,sha256=xw4lbyqq5_ehESGterVEfubJsBiJTWvBp5b9k62gSkg,666
-dodal/devices/lower_gonio_stages.py,sha256=oJ_Xeuqs5E8AWAoZX52jD1qV6pCSjCOjdwnXFKz_xjw,229
-dodal/devices/motors.py,sha256=aKtMv5q_4b1eFhzyuk2-D6zDsY_6cqAmG59y5LWUz1s,1328
+dodal/devices/motors.py,sha256=T0wKGpRKhgduAQj3jE8CGmxy3cWMAFl9_glyjVZwjnA,1473
 dodal/devices/p45.py,sha256=jzBW2fGRhIbGzSRs5Fgupxro6aqE611n1RTcrTTG-yY,1047
 dodal/devices/qbpm1.py,sha256=OY7-WbdxMiLGUK8Z57ezwqSXbHxoPP-y3GvBgj9kgMA,220
 dodal/devices/robot.py,sha256=V5Gk-e1ZczU7y8SqU4_1YXYQJ6knoVFtXLZmIDY9MI4,2530
@@ -59,7 +58,7 @@ dodal/devices/slits.py,sha256=URru9VN2N19KqeUPDZaBmyKYn0_JJiE0Vko4sZpfsl8,601
 dodal/devices/smargon.py,sha256=ml96h7E1C31qPo8jocAepSouIVXgpIR0vuMF99nZjqM,2964
 dodal/devices/status.py,sha256=TuUGidZ4Ar-WCRc_sX0wn58DmL6brj1pMr8rNF5Z6VU,1198
 dodal/devices/synchrotron.py,sha256=E5vcSum-zoD5vIZxa2Xcl0gAkeRqY6a-AfZQICCwLHg,1947
-dodal/devices/tetramm.py,sha256=dHA15KkJhBHwtmbivDua_aVqFbvK47TVQG7KXmn8jQ8,8041
+dodal/devices/tetramm.py,sha256=Xdy3dXFo4Wn6HHsRo4e1tTgMzvDa8MwkVvcDFZxFrYQ,8280
 dodal/devices/thawer.py,sha256=L5OYSdzGvx6dIkGgcTbITAbFAm0OKEVVqYBb4MPstOg,382
 dodal/devices/turbo_slit.py,sha256=W3ZRIqDhq4iMhr5GcIiWvl2U1GaPtGanqkL7upQOZTY,1132
 dodal/devices/undulator.py,sha256=kn84MQpuBHtQj7H7HeBoAYKXu5buGKvTgs3tf2gdEdw,2074
@@ -77,11 +76,12 @@ dodal/devices/detector/__init__.py,sha256=XEwjopgTtBq93RRuFthVVVI9DT1jUvpOJzWOHa
 dodal/devices/detector/det_dim_constants.py,sha256=MZ4w2nsTKzj4eN7yGsSs1pqKWIuU4vc6UzcSll02uWg,2305
 dodal/devices/detector/det_dist_to_beam_converter.py,sha256=f6JFp-eEB2v8NzZg27UrN0VDP5CMjRnaPU6BTA7_n_s,1937
 dodal/devices/detector/det_resolution.py,sha256=aQkKp24LpRGiwzPAQM3wLVa4ANw32HdrKc2kftHfKQA,3253
-dodal/devices/detector/detector.py,sha256=UDw_hLbhfUo_ECasGQ_Ud8bVQzE9D8uaAMagVAa_R4g,4647
+dodal/devices/detector/detector.py,sha256=arP27DbrgOjYZhE6Ibp9kDBglfmqZpPBk53S5ItsrvE,4756
 dodal/devices/detector/detector_motion.py,sha256=REREva2kyPcIzOZmahN9rT0jDSuUbV0qUDl4IcBnutA,1221
 dodal/devices/i03/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 dodal/devices/i04/transfocator.py,sha256=uieByXIj0JRbmvMB_om5NOAEbEJkzfkCD24bl2aEo1g,3154
 dodal/devices/i20_1/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+dodal/devices/i22/dcm.py,sha256=ZJL-K7GdJxyH-0wKsV0psX8iaFYJINpqBZljfAyuLbs,6046
 dodal/devices/i22/fswitch.py,sha256=AdYtnkCBuhivyJGZqelg_7sjB2pHN7vl1JTtlO4vHo4,3061
 dodal/devices/i23/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 dodal/devices/i23/gonio.py,sha256=cxqD2Kd578c4-K4h2sHdJjoap2gPGC46Qr4SPudHLTs,864
@@ -97,7 +97,7 @@ dodal/devices/oav/oav_calculations.py,sha256=wt71vFcyQrr98FvX8oyUM2n5vmKi3K7PyOT
 dodal/devices/oav/oav_detector.py,sha256=JtzRdFQVXUdVK4Qyd9knDhsfkK6tsXoD_rIWDpLdpD4,3654
 dodal/devices/oav/oav_errors.py,sha256=cc4mGnaTiAc5WIlOt_BIYOc7CRSkrCdnBaavfAJ0pXY,754
 dodal/devices/oav/oav_parameters.py,sha256=4XybkhKeG7IEjPRfx0PVM9KNenuyN0rAGWBZG7H3zvQ,7941
-dodal/devices/oav/utils.py,sha256=KBvwlacwxt0KVV6ybc0nb6wPbxeAF3NfAMKWeJ5XtcU,999
+dodal/devices/oav/utils.py,sha256=BkTk0aTqqhIHCZInhcUAYjCRPxumPOlTg9m21skncTc,3018
 dodal/devices/oav/pin_image_recognition/__init__.py,sha256=qEX3BRnrcP1BLZD-f_smHiMMPLJPkWQZQbIWTbW25JA,6499
 dodal/devices/oav/pin_image_recognition/manual_test.py,sha256=h1Rto6ZDCB3jWhjSy9N8ECxRN583iYDJr9LxrTJ8kfE,903
 dodal/devices/oav/pin_image_recognition/utils.py,sha256=-7-Zs-331UVTq_AZrfdF-zwZdmMn7eitTkBSqnBrxnk,8620
@@ -114,9 +114,9 @@ dodal/devices/zocalo/zocalo_results.py,sha256=U4Vk4OF-eL8w0BR-fbw3k4jyRo6G3Ywaf8
 dodal/parameters/experiment_parameter_base.py,sha256=O7JamfuJ5cYHkPf9tsHJPqn-OMHTAGouigvM1cDFehE,313
 dodal/plans/check_topup.py,sha256=VOkHak88_r-pdTsSnwAJnbvlK2_UhKnO5I36pJmWKvQ,2985
 dodal/plans/data_session_metadata.py,sha256=QNx9rb1EfGBHb21eFekIi7KjNhC0PL-SVKBCggDuNeg,1650
-dls_dodal-1.27.0.dist-info/LICENSE,sha256=tAkwu8-AdEyGxGoSvJ2gVmQdcicWw3j1ZZueVV74M-E,11357
-dls_dodal-1.27.0.dist-info/METADATA,sha256=mkrOjI4F9mwAZOTOLTSPRfNZu5W1wqlqDo3FOOWn6qs,16837
-dls_dodal-1.27.0.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
-dls_dodal-1.27.0.dist-info/entry_points.txt,sha256=wpzz9FsTiYxI8OBwLKX9V9ResLwThBSmtRMcPwII0FA,46
-dls_dodal-1.27.0.dist-info/top_level.txt,sha256=xIozdmZk_wmMV4wugpq9-6eZs0vgADNUKz3j2UAwlhc,6
-dls_dodal-1.27.0.dist-info/RECORD,,
+dls_dodal-1.28.0.dist-info/LICENSE,sha256=tAkwu8-AdEyGxGoSvJ2gVmQdcicWw3j1ZZueVV74M-E,11357
+dls_dodal-1.28.0.dist-info/METADATA,sha256=1EiYYnvAHwt0rilBYosSJaPDpF34SdatvnYUuqud9lE,16837
+dls_dodal-1.28.0.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
+dls_dodal-1.28.0.dist-info/entry_points.txt,sha256=wpzz9FsTiYxI8OBwLKX9V9ResLwThBSmtRMcPwII0FA,46
+dls_dodal-1.28.0.dist-info/top_level.txt,sha256=xIozdmZk_wmMV4wugpq9-6eZs0vgADNUKz3j2UAwlhc,6
+dls_dodal-1.28.0.dist-info/RECORD,,

dodal/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '1.27.0'
-__version_tuple__ = version_tuple = (1, 27, 0)
+__version__ = version = '1.28.0'
+__version_tuple__ = version_tuple = (1, 28, 0)

dodal/beamlines/i03.py

@@ -17,6 +17,7 @@ from dodal.devices.eiger import EigerDetector
 from dodal.devices.fast_grid_scan import PandAFastGridScan, ZebraFastGridScan
 from dodal.devices.flux import Flux
 from dodal.devices.focusing_mirror import FocusingMirrorWithStripes, VFMMirrorVoltages
+from dodal.devices.motors import XYZPositioner
 from dodal.devices.oav.oav_detector import OAV, OAVConfigParams
 from dodal.devices.oav.pin_image_recognition import PinTipDetection
 from dodal.devices.qbpm1 import QBPM1
@@ -208,7 +209,7 @@ def zebra_fast_grid_scan(
     return device_instantiation(
         device_factory=ZebraFastGridScan,
         name="zebra_fast_grid_scan",
-        prefix="-MO-SGON-01:FGS:",
+        prefix="-MO-SGON-01:",
         wait=wait_for_connection,
         fake=fake_with_ophyd_sim,
     )
@@ -224,7 +225,7 @@ def panda_fast_grid_scan(
     return device_instantiation(
         device_factory=PandAFastGridScan,
         name="panda_fast_grid_scan",
-        prefix="-MO-SGON-01:PGS:",
+        prefix="-MO-SGON-01:",
         wait=wait_for_connection,
         fake=fake_with_ophyd_sim,
     )
@@ -495,3 +496,18 @@ def thawer(
         wait_for_connection,
         fake_with_ophyd_sim,
     )
+
+
+def lower_gonio_positioner(
+    wait_for_connection: bool = True, fake_with_ophyd_sim: bool = False
+) -> XYZPositioner:
+    """Get the i03 lower gonio device, instantiate it if it hasn't already been.
+    If this is called when already instantiated in i03, it will return the existing object.
+    """
+    return device_instantiation(
+        XYZPositioner,
+        "lower_gonio_positioner",
+        "-MO-GONP-01:",
+        wait_for_connection,
+        fake_with_ophyd_sim,
+    )

dodal/beamlines/i22.py

@@ -12,9 +12,11 @@ from dodal.common.beamlines.beamline_utils import set_beamline as set_utils_beam
 from dodal.common.beamlines.device_helpers import numbered_slits
 from dodal.common.visit import LocalDirectoryServiceClient, StaticVisitDirectoryProvider
 from dodal.devices.focusing_mirror import FocusingMirror
+from dodal.devices.i22.dcm import CrystalMetadata, DoubleCrystalMonochromator
 from dodal.devices.i22.fswitch import FSwitch
 from dodal.devices.linkam3 import Linkam3
 from dodal.devices.slits import Slits
+from dodal.devices.synchrotron import Synchrotron
 from dodal.devices.tetramm import TetrammDetector
 from dodal.devices.undulator import Undulator
 from dodal.log import set_beamline as set_log_beamline
@@ -53,6 +55,18 @@ def saxs(
     )
 
 
+def synchrotron(
+    wait_for_connection: bool = True, fake_with_ophyd_sim: bool = False
+) -> Synchrotron:
+    return device_instantiation(
+        Synchrotron,
+        "synchrotron",
+        "",
+        wait_for_connection,
+        fake_with_ophyd_sim,
+    )
+
+
 def waxs(
     wait_for_connection: bool = True, fake_with_ophyd_sim: bool = False
 ) -> PilatusDetector:
@@ -122,6 +136,34 @@ def hfm(
     )
 
 
+def dcm(
+    wait_for_connection: bool = True,
+    fake_with_ophyd_sim: bool = False,
+) -> DoubleCrystalMonochromator:
+    return device_instantiation(
+        DoubleCrystalMonochromator,
+        "dcm",
+        "",
+        wait_for_connection,
+        fake_with_ophyd_sim,
+        bl_prefix=False,
+        motion_prefix=f"{BeamlinePrefix(BL).beamline_prefix}-MO-DCM-01:",
+        temperature_prefix=f"{BeamlinePrefix(BL).beamline_prefix}-DI-DCM-01:",
+        crystal_1_metadata=CrystalMetadata(
+            usage="Bragg",
+            type="silicon",
+            reflection=(1, 1, 1),
+            d_spacing=3.13475,
+        ),
+        crystal_2_metadata=CrystalMetadata(
+            usage="Bragg",
+            type="silicon",
+            reflection=(1, 1, 1),
+            d_spacing=3.13475,
+        ),
+    )
+
+
 def undulator(
     wait_for_connection: bool = True,
     fake_with_ophyd_sim: bool = False,
@@ -283,6 +325,7 @@ def panda4(
     )
 
 
+@skip_device
 def oav(
     wait_for_connection: bool = True, fake_with_ophyd_sim: bool = False
 ) -> AravisDetector:

dodal/beamlines/p38.py

@@ -12,6 +12,7 @@ from dodal.common.beamlines.beamline_utils import set_beamline as set_utils_beam
 from dodal.common.beamlines.device_helpers import numbered_slits
 from dodal.common.visit import LocalDirectoryServiceClient, StaticVisitDirectoryProvider
 from dodal.devices.focusing_mirror import FocusingMirror
+from dodal.devices.i22.dcm import CrystalMetadata, DoubleCrystalMonochromator
 from dodal.devices.i22.fswitch import FSwitch
 from dodal.devices.linkam3 import Linkam3
 from dodal.devices.slits import Slits
@@ -214,6 +215,34 @@ def hfm(
     )
 
 
+def dcm(
+    wait_for_connection: bool = True,
+    fake_with_ophyd_sim: bool = True,
+) -> DoubleCrystalMonochromator:
+    return device_instantiation(
+        DoubleCrystalMonochromator,
+        "dcm",
+        "",
+        wait_for_connection,
+        fake_with_ophyd_sim,
+        bl_prefix=False,
+        motion_prefix=f"{BeamlinePrefix(BL).beamline_prefix}-MO-DCM-01:",
+        temperature_prefix=f"{BeamlinePrefix(BL).beamline_prefix}-DI-DCM-01:",
+        crystal_1_metadata=CrystalMetadata(
+            usage="Bragg",
+            type="silicon",
+            reflection=(1, 1, 1),
+            d_spacing=3.13475,
+        ),
+        crystal_2_metadata=CrystalMetadata(
+            usage="Bragg",
+            type="silicon",
+            reflection=(1, 1, 1),
+            d_spacing=3.13475,
+        ),
+    )
+
+
 def undulator(
     wait_for_connection: bool = True,
     fake_with_ophyd_sim: bool = True,

dodal/devices/detector/detector.py

@@ -67,7 +67,11 @@ class DetectorParams(BaseModel):
     def _parse_detector_size_constants(
         cls, det_type: str, values: dict[str, Any]
     ) -> DetectorSizeConstants:
-        return constants_from_type(det_type)
+        return (
+            det_type
+            if isinstance(det_type, DetectorSizeConstants)
+            else constants_from_type(det_type)
+        )
 
     @validator("directory", pre=True)
     def _parse_directory(cls, directory: str, values: dict[str, Any]) -> str:

dodal/devices/fast_grid_scan.py

@@ -1,4 +1,4 @@
-from abc import ABC
+from abc import ABC, abstractmethod
 from typing import Any, Generic, TypeVar
 
 import numpy as np
@@ -9,6 +9,7 @@ from ophyd_async.core import (
     Device,
     Signal,
     SignalR,
+    SignalRW,
     SoftSignalBackend,
     StandardReadable,
     wait_for_value,
@@ -16,8 +17,9 @@ from ophyd_async.core import (
 from ophyd_async.epics.signal import (
     epics_signal_r,
     epics_signal_rw,
+    epics_signal_rw_rbv,
+    epics_signal_x,
 )
-from ophyd_async.epics.signal.signal import epics_signal_rw_rbv
 from pydantic import validator
 from pydantic.dataclasses import dataclass
 
@@ -212,7 +214,7 @@ class PandAGridScanParams(GridScanParamsCommon):
 class MotionProgram(Device):
     def __init__(self, prefix: str, name: str = "") -> None:
         super().__init__(name)
-        self.running = epics_signal_r(float, prefix + "PROGBITS")
+        self.running = epics_signal_r(int, prefix + "PROGBITS")
         self.program_number = epics_signal_r(float, prefix + "CS1:PROG_NUM")
 
 
@@ -240,38 +242,33 @@ class FastGridScanCommon(StandardReadable, ABC, Generic[ParamType]):
     See https://github.com/DiamondLightSource/hyperion/wiki/Coordinate-Systems for more
     """
 
-    def __init__(self, prefix: str, name: str = "") -> None:
-        super().__init__(name)
-        self.x_steps = epics_signal_rw_rbv(int, "X_NUM_STEPS")
+    def __init__(self, prefix: str, smargon_prefix: str, name: str = "") -> None:
+        self.x_steps = epics_signal_rw_rbv(int, f"{prefix}X_NUM_STEPS")
         self.y_steps = epics_signal_rw_rbv(
-            int, "X_NUM_STEPS"
+            int, f"{prefix}Y_NUM_STEPS"
         )  # Number of vertical steps during the first grid scan
         self.z_steps = epics_signal_rw_rbv(
-            int, "X_NUM_STEPS"
+            int, f"{prefix}Z_NUM_STEPS"
         )  # Number of vertical steps during the second grid scan, after the rotation in omega
-        self.x_step_size = epics_signal_rw_rbv(float, "X_STEP_SIZE")
-        self.y_step_size = epics_signal_rw_rbv(float, "Y_STEP_SIZE")
-        self.z_step_size = epics_signal_rw_rbv(float, "Z_STEP_SIZE")
-        self.x_start = epics_signal_rw_rbv(float, "X_START")
-        self.y1_start = epics_signal_rw_rbv(float, "Y_START")
-        self.y2_start = epics_signal_rw_rbv(float, "Y2_START")
-        self.z1_start = epics_signal_rw_rbv(float, "Z_START")
-        self.z2_start = epics_signal_rw_rbv(float, "Z2_START")
-
-        self.position_counter = epics_signal_rw(
-            int, "POS_COUNTER", write_pv="POS_COUNTER_WRITE"
-        )
-        self.x_counter = epics_signal_r(int, "X_COUNTER")
-        self.y_counter = epics_signal_r(int, "Y_COUNTER")
-        self.scan_invalid = epics_signal_r(float, "SCAN_INVALID")
+        self.x_step_size = epics_signal_rw_rbv(float, f"{prefix}X_STEP_SIZE")
+        self.y_step_size = epics_signal_rw_rbv(float, f"{prefix}Y_STEP_SIZE")
+        self.z_step_size = epics_signal_rw_rbv(float, f"{prefix}Z_STEP_SIZE")
+        self.x_start = epics_signal_rw_rbv(float, f"{prefix}X_START")
+        self.y1_start = epics_signal_rw_rbv(float, f"{prefix}Y_START")
+        self.y2_start = epics_signal_rw_rbv(float, f"{prefix}Y2_START")
+        self.z1_start = epics_signal_rw_rbv(float, f"{prefix}Z_START")
+        self.z2_start = epics_signal_rw_rbv(float, f"{prefix}Z2_START")
+
+        self.scan_invalid = epics_signal_r(float, f"{prefix}SCAN_INVALID")
 
-        self.run_cmd = epics_signal_rw(int, "RUN.PROC")
-        self.stop_cmd = epics_signal_rw(int, "STOP.PROC")
-        self.status = epics_signal_r(float, "SCAN_STATUS")
+        self.run_cmd = epics_signal_x(f"{prefix}RUN.PROC")
+        self.status = epics_signal_r(int, f"{prefix}SCAN_STATUS")
 
         self.expected_images = ExpectedImages(parent=self)
 
-        self.motion_program = MotionProgram(prefix)
+        self.motion_program = MotionProgram(smargon_prefix)
+
+        self.position_counter = self._create_position_counter(prefix)
 
         # Kickoff timeout in seconds
         self.KICKOFF_TIMEOUT: float = 5.0
@@ -291,6 +288,7 @@ class FastGridScanCommon(StandardReadable, ABC, Generic[ParamType]):
             "z1_start": self.z1_start,
             "z2_start": self.z2_start,
         }
+        super().__init__(name)
 
     @AsyncStatus.wrap
     async def kickoff(self):
@@ -301,7 +299,7 @@ class FastGridScanCommon(StandardReadable, ABC, Generic[ParamType]):
             await wait_for_value(self.motion_program.running, 0, self.KICKOFF_TIMEOUT)
 
         LOGGER.debug("Running scan")
-        await self.run_cmd.set(1)
+        await self.run_cmd.trigger()
         LOGGER.info("Waiting for FGS to start")
         await wait_for_value(self.status, 1, self.KICKOFF_TIMEOUT)
         LOGGER.debug("FGS kicked off")
@@ -310,6 +308,10 @@ class FastGridScanCommon(StandardReadable, ABC, Generic[ParamType]):
     async def complete(self):
         await wait_for_value(self.status, 0, self.COMPLETE_STATUS)
 
+    @abstractmethod
+    def _create_position_counter(self, prefix: str) -> SignalRW[int]:
+        pass
+
 
 class ZebraFastGridScan(FastGridScanCommon[ZebraGridScanParams]):
     """Device for standard Zebra FGS. In this scan, the goniometer's velocity profile follows a parabolic shape between X steps,
@@ -317,29 +319,46 @@ class ZebraFastGridScan(FastGridScanCommon[ZebraGridScanParams]):
     """
 
     def __init__(self, prefix: str, name: str = "") -> None:
-        super().__init__(prefix, name)
-
+        full_prefix = prefix + "FGS:"
         # Time taken to travel between X steps
-        self.dwell_time_ms = epics_signal_rw_rbv(float, "DWELL_TIME")
+        self.dwell_time_ms = epics_signal_rw_rbv(float, f"{full_prefix}DWELL_TIME")
+
+        self.x_counter = epics_signal_r(int, f"{full_prefix}X_COUNTER")
+        self.y_counter = epics_signal_r(int, f"{full_prefix}Y_COUNTER")
+
+        super().__init__(full_prefix, prefix, name)
+
         self.movable_params["dwell_time_ms"] = self.dwell_time_ms
 
+    def _create_position_counter(self, prefix: str):
+        return epics_signal_rw(
+            int, f"{prefix}POS_COUNTER", write_pv=f"{prefix}POS_COUNTER_WRITE"
+        )
+
 
 class PandAFastGridScan(FastGridScanCommon[PandAGridScanParams]):
     """Device for panda constant-motion scan"""
 
     def __init__(self, prefix: str, name: str = "") -> None:
-        super().__init__(prefix, name)
+        full_prefix = prefix + "PGS:"
         self.time_between_x_steps_ms = (
             epics_signal_rw_rbv(  # Used by motion controller to set goniometer velocity
-                float, "TIME_BETWEEN_X_STEPS"
+                float, f"{full_prefix}TIME_BETWEEN_X_STEPS"
             )
         )
 
         # Distance before and after the grid given to allow goniometer to reach desired speed while it is within the
         # grid
-        self.run_up_distance_mm = epics_signal_rw_rbv(float, "RUNUP_DISTANCE")
+        self.run_up_distance_mm = epics_signal_rw_rbv(
+            float, f"{full_prefix}RUNUP_DISTANCE"
+        )
+        super().__init__(full_prefix, prefix, name)
+
         self.movable_params["run_up_distance_mm"] = self.run_up_distance_mm
 
+    def _create_position_counter(self, prefix: str):
+        return epics_signal_rw(int, f"{prefix}Y_COUNTER")
+
 
 def set_fast_grid_scan_params(scan: FastGridScanCommon[ParamType], params: ParamType):
     to_move = []

dodal/devices/i22/dcm.py

@@ -0,0 +1,152 @@
+import time
+from dataclasses import dataclass
+from typing import Dict, Literal
+
+from bluesky.protocols import Reading
+from event_model.documents.event_descriptor import DataKey
+from ophyd_async.core import ConfigSignal, StandardReadable, soft_signal_r_and_setter
+from ophyd_async.epics.motion import Motor
+from ophyd_async.epics.signal import epics_signal_r
+
+# Conversion constant for energy and wavelength, taken from the X-Ray data booklet
+# Converts between energy in KeV and wavelength in angstrom
+_CONVERSION_CONSTANT = 12.3984
+
+
+@dataclass(frozen=True, unsafe_hash=True)
+class CrystalMetadata:
+    """
+    Metadata used in the NeXus format,
+    see https://manual.nexusformat.org/classes/base_classes/NXcrystal.html
+    """
+
+    usage: Literal["Bragg", "Laue"] | None = None
+    type: str | None = None
+    reflection: tuple[int, int, int] | None = None
+    d_spacing: float | None = None
+
+
+class DoubleCrystalMonochromator(StandardReadable):
+    """
+    A double crystal monochromator (DCM), used to select the energy of the beam.
+
+    perp describes the gap between the 2 DCM crystals which has to change as you alter
+    the angle to select the requested energy.
+
+    offset ensures that the beam exits the DCM at the same point, regardless of energy.
+    """
+
+    def __init__(
+        self,
+        motion_prefix: str,
+        temperature_prefix: str,
+        crystal_1_metadata: CrystalMetadata | None = None,
+        crystal_2_metadata: CrystalMetadata | None = None,
+        prefix: str = "",
+        name: str = "",
+    ) -> None:
+        with self.add_children_as_readables():
+            # Positionable Parameters
+            self.bragg = Motor(motion_prefix + "BRAGG")
+            self.offset = Motor(motion_prefix + "OFFSET")
+            self.perp = Motor(motion_prefix + "PERP")
+            self.energy = Motor(motion_prefix + "ENERGY")
+            self.crystal_1_roll = Motor(motion_prefix + "XTAL1:ROLL")
+            self.crystal_2_roll = Motor(motion_prefix + "XTAL2:ROLL")
+            self.crystal_2_pitch = Motor(motion_prefix + "XTAL2:PITCH")
+
+            # Temperatures
+            self.backplate_temp = epics_signal_r(float, temperature_prefix + "PT100-7")
+            self.perp_temp = epics_signal_r(float, temperature_prefix + "TC-1")
+            self.crystal_1_temp = epics_signal_r(float, temperature_prefix + "PT100-1")
+            self.crystal_1_heater_temp = epics_signal_r(
+                float, temperature_prefix + "PT100-2"
+            )
+            self.crystal_2_temp = epics_signal_r(float, temperature_prefix + "PT100-4")
+            self.crystal_2_heater_temp = epics_signal_r(
+                float, temperature_prefix + "PT100-5"
+            )
+
+        # Soft metadata
+        # If supplied include crystal details in output of read_configuration
+        crystal_1_metadata = crystal_1_metadata or CrystalMetadata()
+        crystal_2_metadata = crystal_2_metadata or CrystalMetadata()
+        with self.add_children_as_readables(ConfigSignal):
+            if crystal_1_metadata.usage is not None:
+                self.crystal_1_usage, _ = soft_signal_r_and_setter(
+                    str, initial_value=crystal_1_metadata.usage
+                )
+            else:
+                self.crystal_1_usage = None
+            if crystal_1_metadata.type is not None:
+                self.crystal_1_type, _ = soft_signal_r_and_setter(
+                    str, initial_value=crystal_1_metadata.type
+                )
+            else:
+                self.crystal_1_type = None
+            if crystal_1_metadata.reflection is not None:
+                self.crystal_1_reflection, _ = soft_signal_r_and_setter(
+                    str, initial_value=crystal_1_metadata.reflection
+                )
+            else:
+                self.crystal_1_reflection = None
+            if crystal_1_metadata.d_spacing is not None:
+                self.crystal_1_d_spacing, _ = soft_signal_r_and_setter(
+                    str, initial_value=crystal_1_metadata.d_spacing
+                )
+            else:
+                self.crystal_1_d_spacing = None
+            if crystal_2_metadata.usage is not None:
+                self.crystal_2_usage, _ = soft_signal_r_and_setter(
+                    str, initial_value=crystal_2_metadata.usage
+                )
+            else:
+                self.crystal_2_usage = None
+            if crystal_2_metadata.type is not None:
+                self.crystal_2_type, _ = soft_signal_r_and_setter(
+                    str, initial_value=crystal_2_metadata.type
+                )
+            else:
+                self.crystal_2_type = None
+            if crystal_2_metadata.reflection is not None:
+                self.crystal_2_reflection, _ = soft_signal_r_and_setter(
+                    str, initial_value=crystal_2_metadata.reflection
+                )
+            else:
+                self.crystal_2_reflection = None
+            if crystal_2_metadata.d_spacing is not None:
+                self.crystal_2_d_spacing, _ = soft_signal_r_and_setter(
+                    str, initial_value=crystal_2_metadata.d_spacing
+                )
+            else:
+                self.crystal_2_d_spacing = None
+
+        super().__init__(name)
+
+    async def describe(self) -> Dict[str, DataKey]:
+        default_describe = await super().describe()
+        return {
+            f"{self.name}-wavelength": DataKey(
+                dtype="number",
+                shape=[],
+                source=self.name,
+                units="angstrom",
+            ),
+            **default_describe,
+        }
+
+    async def read(self) -> Dict[str, Reading]:
+        default_reading = await super().read()
+        energy: float = default_reading[f"{self.name}-energy"]["value"]
+        if energy > 0.0:
+            wavelength = _CONVERSION_CONSTANT / energy
+        else:
+            wavelength = 0.0
+
+        return {
+            **default_reading,
+            f"{self.name}-wavelength": Reading(
+                value=wavelength,
+                timestamp=time.time(),
+            ),
+        }

dodal/devices/motors.py

@@ -2,13 +2,17 @@ from dataclasses import dataclass
 from typing import List, Tuple
 
 import numpy as np
-from ophyd import Component, Device, EpicsMotor
+from ophyd import EpicsMotor
+from ophyd_async.core import Device
+from ophyd_async.epics.motion import Motor
 
 
 class XYZPositioner(Device):
-    x = Component(EpicsMotor, "X")
-    y = Component(EpicsMotor, "Y")
-    z = Component(EpicsMotor, "Z")
+    def __init__(self, prefix: str, name: str):
+        self.x = Motor(prefix + "X")
+        self.y = Motor(prefix + "Y")
+        self.z = Motor(prefix + "Z")
+        super().__init__(name)
 
 
 @dataclass

dodal/devices/oav/utils.py

@@ -1,6 +1,20 @@
 from enum import IntEnum
+from typing import Generator, Tuple
 
+import bluesky.plan_stubs as bps
 import numpy as np
+from bluesky.utils import Msg
+
+from dodal.devices.oav.oav_calculations import camera_coordinates_to_xyz
+from dodal.devices.oav.oav_detector import OAVConfigParams
+from dodal.devices.oav.pin_image_recognition import PinTipDetection
+from dodal.devices.smargon import Smargon
+
+Pixel = Tuple[int, int]
+
+
+class PinNotFoundException(Exception):
+    pass
 
 
 def bottom_right_from_top_left(
@@ -47,3 +61,49 @@ class EdgeOutputArrayImageType(IntEnum):
     PREPROCESSED = 2
     CANNY_EDGES = 3
     CLOSED_EDGES = 4
+
+
+def get_move_required_so_that_beam_is_at_pixel(
+    smargon: Smargon, pixel: Pixel, oav_params: OAVConfigParams
+) -> Generator[Msg, None, np.ndarray]:
+    """Calculate the required move so that the given pixel is in the centre of the beam."""
+
+    current_motor_xyz = np.array(
+        [
+            (yield from bps.rd(smargon.x)),
+            (yield from bps.rd(smargon.y)),
+            (yield from bps.rd(smargon.z)),
+        ],
+        dtype=np.float64,
+    )
+    current_angle = yield from bps.rd(smargon.omega)
+
+    return calculate_x_y_z_of_pixel(current_motor_xyz, current_angle, pixel, oav_params)
+
+
+def calculate_x_y_z_of_pixel(
+    current_x_y_z, current_omega, pixel: Pixel, oav_params: OAVConfigParams
+) -> np.ndarray:
+    beam_distance_px: Pixel = oav_params.calculate_beam_distance(*pixel)
+
+    assert oav_params.micronsPerXPixel
+    assert oav_params.micronsPerYPixel
+    return current_x_y_z + camera_coordinates_to_xyz(
+        beam_distance_px[0],
+        beam_distance_px[1],
+        current_omega,
+        oav_params.micronsPerXPixel,
+        oav_params.micronsPerYPixel,
+    )
+
+
+def wait_for_tip_to_be_found(
+    ophyd_pin_tip_detection: PinTipDetection,
+) -> Generator[Msg, None, Pixel]:
+    yield from bps.trigger(ophyd_pin_tip_detection, wait=True)
+    found_tip = yield from bps.rd(ophyd_pin_tip_detection.triggered_tip)
+    if found_tip == ophyd_pin_tip_detection.INVALID_POSITION:
+        timeout = yield from bps.rd(ophyd_pin_tip_detection.validity_timeout)
+        raise PinNotFoundException(f"No pin found after {timeout} seconds")
+
+    return found_tip  # type: ignore

dodal/devices/tetramm.py

@@ -115,8 +115,13 @@ class TetrammController(DetectorControl):
         self,
         num: int,
         trigger: DetectorTrigger,
-        exposure: float,
+        exposure: float | None = None,
     ) -> AsyncStatus:
+        if exposure is None:
+            raise ValueError(
+                "Tetramm does not support arm without exposure time. "
+                "Is this a software scan? Tetramm only supports hardware scans."
+            )
         self._validate_trigger(trigger)
 
         # trigger mode must be set first and on its own!

dodal/devices/lower_gonio_stages.py

@@ -1,8 +0,0 @@
-from ophyd import Component as Cpt
-from ophyd import Device, EpicsMotor
-
-
-class GonioLowerStages(Device):
-    x = Cpt(EpicsMotor, "-MO-GONP-01:X")
-    y = Cpt(EpicsMotor, "-MO-GONP-01:Y")
-    z = Cpt(EpicsMotor, "-MO-GONP-01:Z")