dls-dodal 1.68.0__py3-none-any.whl → 2.0.0__py3-none-any.whl

dodal/devices/insertion_device/apple2_undulator.py

@@ -1,64 +1,58 @@
 import abc
 import asyncio
 from dataclasses import dataclass
-from math import isclose
-from typing import Generic, Protocol, TypeVar
+from typing import Generic, TypeVar
 
 import numpy as np
-from bluesky.protocols import Locatable, Location, Movable
+from bluesky.protocols import Movable
 from ophyd_async.core import (
+    DEFAULT_TIMEOUT,
     AsyncStatus,
+    Device,
+    FlyMotorInfo,
     Reference,
     SignalR,
-    SignalRW,
     SignalW,
     StandardReadable,
     StandardReadableFormat,
-    derived_signal_rw,
-    soft_signal_r_and_setter,
-    soft_signal_rw,
+    WatchableAsyncStatus,
+    WatcherUpdate,
+    observe_value,
     wait_for_value,
 )
-from ophyd_async.epics.core import epics_signal_r, epics_signal_rw, epics_signal_w
+from ophyd_async.epics.core import epics_signal_r, epics_signal_rw
 from ophyd_async.epics.motor import Motor
 
 from dodal.common.enums import EnabledDisabledUpper
-from dodal.devices.insertion_device.energy_motor_lookup import EnergyMotorLookup
-from dodal.devices.insertion_device.id_enum import Pol, UndulatorGateStatus
+from dodal.devices.insertion_device.enum import UndulatorGateStatus
 from dodal.log import LOGGER
 
 T = TypeVar("T")
 
 DEFAULT_MOTOR_MIN_TIMEOUT = 10
-MAXIMUM_MOVE_TIME = 550  # There is no useful movements take longer than this.
 
 
 @dataclass
 class Apple2LockedPhasesVal:
-    top_outer: str
-    btm_inner: str
+    top_outer: float
+    btm_inner: float
 
 
 @dataclass
 class Apple2PhasesVal(Apple2LockedPhasesVal):
-    top_inner: str
-    btm_outer: str
+    top_inner: float
+    btm_outer: float
 
 
 @dataclass
 class Apple2Val:
-    gap: str
+    gap: float
     phase: Apple2LockedPhasesVal | Apple2PhasesVal
 
     def extract_phase_val(self):
         return self.phase
 
 
-ROW_PHASE_MOTOR_TOLERANCE = 0.004
-MAXIMUM_ROW_PHASE_MOTOR_POSITION = 24.0
-MAXIMUM_GAP_MOTOR_POSITION = 100
-
-
 async def estimate_motor_timeout(
     setpoint: SignalR, curr_pos: SignalR, velocity: SignalR
 ):
@@ -68,7 +62,35 @@ async def estimate_motor_timeout(
     return abs((target_pos - cur_pos) * 2.0 / vel) + DEFAULT_MOTOR_MIN_TIMEOUT
 
 
-class SafeUndulatorMover(StandardReadable, Movable[T], Generic[T]):
+class UndulatorBase(abc.ABC, Device, Generic[T]):
+    """Abstract base class for Apple2 undulator devices.
+    This class provides common functionality for undulator devices, including
+    gate and status signal management, safety checks before motion, and abstract
+    methods for setting demand positions and estimating move timeouts.
+    """
+
+    def __init__(self, name: str = ""):
+        # Gate keeper open when move is requested, closed when move is completed
+        self.gate: SignalR[UndulatorGateStatus]
+        self.status: SignalR[EnabledDisabledUpper]
+        super().__init__(name=name)
+
+    @abc.abstractmethod
+    async def set_demand_positions(self, value: T) -> None:
+        """Set the demand positions on the device without actually hitting move."""
+
+    @abc.abstractmethod
+    async def get_timeout(self) -> float:
+        """Get the timeout for the move based on an estimate of how long it will take."""
+
+    async def raise_if_cannot_move(self) -> None:
+        if await self.status.get_value() is EnabledDisabledUpper.DISABLED:
+            raise RuntimeError(f"{self.name} is DISABLED and cannot move.")
+        if await self.gate.get_value() is UndulatorGateStatus.OPEN:
+            raise RuntimeError(f"{self.name} is already in motion.")
+
+
+class SafeUndulatorMover(StandardReadable, UndulatorBase, Generic[T]):
     """A device that will check it's safe to move the undulator before moving it and
     wait for the undulator to be safe again before calling the move complete.
     """
@@ -90,113 +112,128 @@ class SafeUndulatorMover(StandardReadable, Movable[T], Generic[T]):
         await self.set_move.set(value=1, timeout=timeout)
         await wait_for_value(self.gate, UndulatorGateStatus.CLOSE, timeout=timeout)
 
-    @abc.abstractmethod
-    async def set_demand_positions(self, value: T) -> None:
-        """Set the demand positions on the device without actually hitting move."""
 
-    @abc.abstractmethod
-    async def get_timeout(self) -> float:
-        """Get the timeout for the move based on an estimate of how long it will take."""
+class UnstoppableMotor(Motor):
+    """A motor that does not support stop."""
 
-    async def raise_if_cannot_move(self) -> None:
-        if await self.status.get_value() is not EnabledDisabledUpper.ENABLED:
-            raise RuntimeError(f"{self.name} is DISABLED and cannot move.")
-        if await self.gate.get_value() == UndulatorGateStatus.OPEN:
-            raise RuntimeError(f"{self.name} is already in motion.")
+    def __init__(self, prefix: str, name: str = ""):
+        super().__init__(prefix=prefix, name=name)
+        del self.motor_stop  # Remove motor_stop from the public interface
 
+    async def stop(self, success=False):
+        LOGGER.warning(f"Stopping {self.name} is not supported.")
 
-class UndulatorGap(SafeUndulatorMover[float]):
-    """A device with a collection of epics signals to set Apple 2 undulator gap motion.
-    Only PV used by beamline are added the full list is here:
-    /dls_sw/work/R3.14.12.7/support/insertionDevice/db/IDGapVelocityControl.template
-    /dls_sw/work/R3.14.12.7/support/insertionDevice/db/IDPhaseSoftMotor.template
-    """
 
-    def __init__(self, prefix: str, name: str = ""):
-        """
+class GapSafeMotorNoStop(UnstoppableMotor, UndulatorBase[float]):
+    """Update gap safe motor that checks it's safe to move before moving."""
 
-        Parameters
-        ----------
-            prefix : str
-                Beamline specific part of the PV
-            name : str
-                Name of the Id device
-
-        """
+    def __init__(self, set_move: SignalW[int], prefix: str, name: str = ""):
+        # Gate keeper open when move is requested, closed when move is completed
+        self.gate = epics_signal_r(UndulatorGateStatus, prefix + "BLGATE")
+        self.status = epics_signal_r(EnabledDisabledUpper, prefix + "IDBLENA")
+        self.set_move = set_move
+        super().__init__(prefix=prefix + "BLGAPMTR", name=name)
+
+    @WatchableAsyncStatus.wrap
+    async def set(self, new_position: float, timeout=DEFAULT_TIMEOUT):
+        (
+            old_position,
+            units,
+            precision,
+        ) = await asyncio.gather(
+            self.user_setpoint.get_value(),
+            self.motor_egu.get_value(),
+            self.precision.get_value(),
+        )
+        LOGGER.info(f"Setting {self.name} to {new_position}")
+        await self.raise_if_cannot_move()
+        await self.set_demand_positions(new_position)
+        timeout = await self.get_timeout()
+        LOGGER.info(f"Moving {self.name} to {new_position} with timeout = {timeout}")
 
-        # Gap demand set point and readback
-        self.user_setpoint = epics_signal_rw(
-            str, prefix + "GAPSET.B", prefix + "BLGSET"
+        await self.set_move.set(value=1, wait=True, timeout=timeout)
+        move_status = AsyncStatus(
+            wait_for_value(self.gate, UndulatorGateStatus.CLOSE, timeout=timeout)
         )
-        # Nothing move until this is set to 1 and it will return to 0 when done
+
+        async for current_position in observe_value(
+            self.user_readback, done_status=move_status
+        ):
+            yield WatcherUpdate(
+                current=current_position,
+                initial=old_position,
+                target=new_position,
+                name=self.name,
+                unit=units,
+                precision=precision,
+            )
+
+
+class UndulatorGap(GapSafeMotorNoStop):
+    """Apple 2 undulator gap motor device. With PV corrections.
+
+    Args:
+        prefix (str): Beamline specific part of the PV
+        name (str): Name of the Id device
+    """
+
+    def __init__(self, prefix: str, name: str = ""):
         self.set_move = epics_signal_rw(int, prefix + "BLGSETP")
+        # Nothing move until this is set to 1 and it will return to 0 when done.
+        super().__init__(self.set_move, prefix, name)
 
-        # These are gap velocity limit.
         self.max_velocity = epics_signal_r(float, prefix + "BLGSETVEL.HOPR")
         self.min_velocity = epics_signal_r(float, prefix + "BLGSETVEL.LOPR")
-        # These are gap limit.
-        self.high_limit_travel = epics_signal_r(float, prefix + "BLGAPMTR.HLM")
-        self.low_limit_travel = epics_signal_r(float, prefix + "BLGAPMTR.LLM")
-
-        # This is calculated acceleration from speed
-        self.acceleration_time = epics_signal_r(float, prefix + "IDGSETACC")
-
-        with self.add_children_as_readables(StandardReadableFormat.CONFIG_SIGNAL):
-            # Unit
-            self.motor_egu = epics_signal_r(str, prefix + "BLGAPMTR.EGU")
-            # Gap velocity
-            self.velocity = epics_signal_rw(float, prefix + "BLGSETVEL")
-        with self.add_children_as_readables(StandardReadableFormat.HINTED_SIGNAL):
-            # Gap readback value
-            self.user_readback = epics_signal_r(float, prefix + "CURRGAPD")
-        super().__init__(self.set_move, prefix, name)
+        self.user_setpoint = epics_signal_rw(str, prefix + "BLGSET")
+        """ Clear the motor config_signal as we need new PV for velocity."""
+        self._describe_config_funcs = ()
+        self._read_config_funcs = ()
+        self.velocity = epics_signal_rw(float, prefix + "BLGSETVEL")
+        self.add_readables(
+            [self.velocity, self.motor_egu, self.offset],
+            format=StandardReadableFormat.CONFIG_SIGNAL,
+        )
 
-    async def set_demand_positions(self, value: float) -> None:
-        await self.user_setpoint.set(str(value))
+    @AsyncStatus.wrap
+    async def prepare(self, value: FlyMotorInfo) -> None:
+        """Prepare for a fly scan by moving to the run-up position at max velocity.
+        Stores fly info for later use in kickoff.
+        """
+        max_velocity, min_velocity, egu = await asyncio.gather(
+            self.max_velocity.get_value(),
+            self.min_velocity.get_value(),
+            self.motor_egu.get_value(),
+        )
+        velocity = abs(value.velocity)
+        if not (min_velocity <= velocity <= max_velocity):
+            raise ValueError(
+                f"Requested velocity {velocity} {egu}/s is out of bounds: "
+                f"must be between {min_velocity} and {max_velocity} {egu}/s."
+            )
+        await super().prepare(value)
 
     async def get_timeout(self) -> float:
         return await estimate_motor_timeout(
             self.user_setpoint, self.user_readback, self.velocity
         )
 
+    async def set_demand_positions(self, value: float) -> None:
+        await self.user_setpoint.set(str(value))
+
 
-class UndulatorPhaseMotor(StandardReadable):
-    """A collection of epics signals for ID phase motion.
-    Only PV used by beamline are added the full list is here:
-    /dls_sw/work/R3.14.12.7/support/insertionDevice/db/IDPhaseSoftMotor.template
+class UndulatorPhaseMotor(UnstoppableMotor):
+    """Phase motor that will not stop.
+
+    Args:
+        prefix (str): The setting prefix PV.
+        name (str, optional): Name of the Id phase device.
     """
 
-    def __init__(self, prefix: str, infix: str, name: str = ""):
-        """
-        Parameters
-        ----------
-
-        prefix : str
-            The setting prefix PV.
-        infix: str
-            Collection of pv that are different between beamlines
-        name : str
-            Name of the Id phase device
-        """
-        full_pv = f"{prefix}BL{infix}"
-        self.user_setpoint = epics_signal_w(str, full_pv + "SET")
-        self.user_setpoint_readback = epics_signal_r(float, full_pv + "DMD")
-        full_pv = full_pv + "MTR"
-        with self.add_children_as_readables(StandardReadableFormat.HINTED_SIGNAL):
-            self.user_readback = epics_signal_r(float, full_pv + ".RBV")
-
-        with self.add_children_as_readables(StandardReadableFormat.CONFIG_SIGNAL):
-            self.motor_egu = epics_signal_r(str, full_pv + ".EGU")
-            self.velocity = epics_signal_rw(float, full_pv + ".VELO")
-
-        self.max_velocity = epics_signal_r(float, full_pv + ".VMAX")
-        self.acceleration_time = epics_signal_rw(float, full_pv + ".ACCL")
-        self.precision = epics_signal_r(int, full_pv + ".PREC")
-        self.deadband = epics_signal_r(float, full_pv + ".RDBD")
-        self.motor_done_move = epics_signal_r(int, full_pv + ".DMOV")
-        self.low_limit_travel = epics_signal_rw(float, full_pv + ".LLM")
-        self.high_limit_travel = epics_signal_rw(float, full_pv + ".HLM")
-        super().__init__(name=name)
+    def __init__(self, prefix: str, name: str = ""):
+        motor_pv = f"{prefix}MTR"
+        super().__init__(prefix=motor_pv, name=name)
+        self.user_setpoint = epics_signal_rw(str, prefix + "SET")
+        self.user_setpoint_readback = epics_signal_r(float, prefix + "DMD")
 
 
 Apple2PhaseValType = TypeVar("Apple2PhaseValType", bound=Apple2LockedPhasesVal)
@@ -214,8 +251,8 @@ class UndulatorLockedPhaseAxes(SafeUndulatorMover[Apple2PhaseValType]):
     ):
         # Gap demand set point and readback
         with self.add_children_as_readables():
-            self.top_outer = UndulatorPhaseMotor(prefix=prefix, infix=top_outer)
-            self.btm_inner = UndulatorPhaseMotor(prefix=prefix, infix=btm_inner)
+            self.top_outer = UndulatorPhaseMotor(prefix=f"{prefix}BL{top_outer}")
+            self.btm_inner = UndulatorPhaseMotor(prefix=f"{prefix}BL{btm_inner}")
         # Nothing move until this is set to 1 and it will return to 0 when done.
         self.set_move = epics_signal_rw(int, f"{prefix}BL{top_outer}" + "MOVE")
         self.axes = [self.top_outer, self.btm_inner]
@@ -223,15 +260,14 @@ class UndulatorLockedPhaseAxes(SafeUndulatorMover[Apple2PhaseValType]):
 
     async def set_demand_positions(self, value: Apple2PhaseValType) -> None:
         await asyncio.gather(
-            self.top_outer.user_setpoint.set(value=value.top_outer),
-            self.btm_inner.user_setpoint.set(value=value.btm_inner),
+            self.top_outer.user_setpoint.set(value=str(value.top_outer)),
+            self.btm_inner.user_setpoint.set(value=str(value.btm_inner)),
         )
 
     async def get_timeout(self) -> float:
+        """Get all motor speed, current positions and target positions to calculate
+        required timeout.
         """
-        Get all four motor speed, current positions and target positions to calculate required timeout.
-        """
-
         timeouts = await asyncio.gather(
             *[
                 estimate_motor_timeout(
@@ -244,20 +280,19 @@ class UndulatorLockedPhaseAxes(SafeUndulatorMover[Apple2PhaseValType]):
         )
         """A 2.0 multiplier is required to prevent premature motor timeouts in phase
         axes as it is a master-slave system, where the slave's movement,
-        being dependent on the master, can take up to twice as long to complete.
-        """
+        being dependent on the master, can take up to twice as long to complete."""
         return np.max(timeouts) * 2.0
 
 
 class UndulatorPhaseAxes(UndulatorLockedPhaseAxes[Apple2PhasesVal]):
-    """
-    A collection of 4 phase Motor to make up the full id phase motion. We are using the diamond pv convention.
-    e.g. top_outer == Q1
-         top_inner == Q2
-         btm_inner == q3
-         btm_outer == q4
+    """A collection of 4 phase Motor to make up the full id phase motion. We are using
+    the diamond PV convention. e.g.::
 
-    """
+        top_outer == Q1
+        top_inner == Q2
+        btm_inner == q3
+        btm_outer == q4
+    """  # noqa D415
 
     def __init__(
         self,
@@ -270,25 +305,24 @@ class UndulatorPhaseAxes(UndulatorLockedPhaseAxes[Apple2PhasesVal]):
     ):
         # Gap demand set point and readback
         with self.add_children_as_readables():
-            self.top_inner = UndulatorPhaseMotor(prefix=prefix, infix=top_inner)
-            self.btm_outer = UndulatorPhaseMotor(prefix=prefix, infix=btm_outer)
+            self.top_inner = UndulatorPhaseMotor(prefix=f"{prefix}BL{top_inner}")
+            self.btm_outer = UndulatorPhaseMotor(prefix=f"{prefix}BL{btm_outer}")
 
         super().__init__(prefix, top_outer=top_outer, btm_inner=btm_inner, name=name)
         self.axes.extend([self.top_inner, self.btm_outer])
 
     async def set_demand_positions(self, value: Apple2PhasesVal) -> None:
         await asyncio.gather(
-            self.top_outer.user_setpoint.set(value=value.top_outer),
-            self.top_inner.user_setpoint.set(value=value.top_inner),
-            self.btm_inner.user_setpoint.set(value=value.btm_inner),
-            self.btm_outer.user_setpoint.set(value=value.btm_outer),
+            self.top_outer.user_setpoint.set(value=str(value.top_outer)),
+            self.top_inner.user_setpoint.set(value=str(value.top_inner)),
+            self.btm_inner.user_setpoint.set(value=str(value.btm_inner)),
+            self.btm_outer.user_setpoint.set(value=str(value.btm_outer)),
         )
 
 
 class UndulatorJawPhase(SafeUndulatorMover[float]):
-    """
-    A JawPhase movable, this is use for moving the jaw phase which is use to control the
-    linear arbitrary polarisation but only on some of the beamline.
+    """A JawPhase movable, this is use for moving the jaw phase which is use to control
+    the linear arbitrary polarisation but only on some of the beamline.
     """
 
     def __init__(
@@ -300,7 +334,7 @@ class UndulatorJawPhase(SafeUndulatorMover[float]):
     ):
         # Gap demand set point and readback
         with self.add_children_as_readables():
-            self.jaw_phase = UndulatorPhaseMotor(prefix=prefix, infix=jaw_phase)
+            self.jaw_phase = UndulatorPhaseMotor(prefix=f"{prefix}BL{jaw_phase}")
         # Nothing move until this is set to 1 and it will return to 0 when done
         self.set_move = epics_signal_rw(int, f"{prefix}BL{move_pv}" + "MOVE")
 
@@ -310,8 +344,8 @@ class UndulatorJawPhase(SafeUndulatorMover[float]):
         await self.jaw_phase.user_setpoint.set(value=str(value))
 
     async def get_timeout(self) -> float:
-        """
-        Get motor speed, current position and target position to calculate required timeout.
+        """Get motor speed, current position and target position to calculate required
+        timeout.
         """
         return await estimate_motor_timeout(
             self.jaw_phase.user_setpoint_readback,
@@ -324,29 +358,20 @@ PhaseAxesType = TypeVar("PhaseAxesType", bound=UndulatorLockedPhaseAxes)
 
 
 class Apple2(StandardReadable, Movable[Apple2Val], Generic[PhaseAxesType]):
-    """
-    Device representing the combined motor controls for an Apple2 undulator.
-
-    Attributes
-    ----------
-    gap : UndulatorGap
-        The undulator gap motor device.
-    phase : UndulatorPhaseAxes
-        The undulator phase axes device, consisting of four phase motors.
+    """Device representing the combined motor controls for an Apple2 undulator.
+
+    Attributes:
+        gap (UndulatorGap): The undulator gap motor device.
+        phase (UndulatorPhaseAxes): The undulator phase axes device, consisting of four
+            phase motors.
+
+    Args:
+        id_gap (UndulatorGap): An UndulatorGap device.
+        id_phase (UndulatorPhaseAxes): An UndulatorPhaseAxes device.
+        name (str, optional): Name of the device.
     """
 
     def __init__(self, id_gap: UndulatorGap, id_phase: PhaseAxesType, name=""):
-        """
-        Parameters
-        ----------
-
-        id_gap: UndulatorGap
-            An UndulatorGap device.
-        id_phase: UndulatorPhaseAxes
-            An UndulatorPhaseAxes device.
-        name: str
-            Name of the device.
-        """
         with self.add_children_as_readables():
             self.gap = Reference(id_gap)
             self.phase = Reference(id_phase)
@@ -354,12 +379,10 @@ class Apple2(StandardReadable, Movable[Apple2Val], Generic[PhaseAxesType]):
 
     @AsyncStatus.wrap
     async def set(self, id_motor_values: Apple2Val) -> None:
+        """Check ID is in a movable state and set all the demand value before moving
+        them all at the same time.
         """
-        Check ID is in a movable state and set all the demand value before moving them
-        all at the same time.
-        """
-
-        # Only need to check gap as the phase motors share both fault and gate with gap.
+        # Only need to check gap as the phase motors share both status and gate with gap.
         await self.gap().raise_if_cannot_move()
 
         await asyncio.gather(
@@ -372,7 +395,7 @@ class Apple2(StandardReadable, Movable[Apple2Val], Generic[PhaseAxesType]):
             await asyncio.gather(self.gap().get_timeout(), self.phase().get_timeout())
         )
         LOGGER.info(
-            f"Moving f{self.name} apple2 motors to {id_motor_values}, timeout = {timeout}"
+            f"Moving {self.name} apple2 motors to {id_motor_values}, timeout = {timeout}"
         )
         await asyncio.gather(
             self.gap().set_move.set(value=1, wait=False, timeout=timeout),
@@ -381,429 +404,3 @@ class Apple2(StandardReadable, Movable[Apple2Val], Generic[PhaseAxesType]):
         await wait_for_value(
             self.gap().gate, UndulatorGateStatus.CLOSE, timeout=timeout
         )
-
-
-class EnergyMotorConvertor(Protocol):
-    def __call__(self, energy: float, pol: Pol) -> float:
-        """Protocol to provide energy to motor position conversion"""
-        ...
-
-
-Apple2Type = TypeVar("Apple2Type", bound=Apple2)
-
-
-class Apple2Controller(abc.ABC, StandardReadable, Generic[Apple2Type]):
-    """
-
-    Abstract base class for controlling an Apple2 undulator device.
-
-    This class manages the undulator's gap and phase motors, and provides an interface
-    for controlling polarisation and energy settings. It exposes derived signals for
-    energy and polarisation, and handles conversion between energy/polarisation and
-    motor positions via a user-supplied conversion callable.
-
-    Attributes
-    ----------
-    apple2 : Reference[Apple2Type]
-        Reference to the Apple2 device containing gap and phase motors.
-    energy : derived_signal_rw
-        Derived signal for moving and reading back energy.
-    polarisation_setpoint : SignalR
-        Soft signal for the polarisation setpoint.
-    polarisation : derived_signal_rw
-        Hardware-backed signal for polarisation readback and control.
-    gap_energy_to_motor_converter : EnergyMotorConvertor
-        Callable that converts energy and polarisation to gap motor positions.
-    phase_energy_to_motor_converter : EnergyMotorConvertor
-        Callable that converts energy and polarisation to phase motor positions.
-
-    Abstract Methods
-    ----------------
-    _get_apple2_value(gap: float, phase: float) -> Apple2Val
-        Abstract method to return the Apple2Val used to set the apple2 with.
-    Notes
-    -----
-    - Subclasses must implement `_get_apple2_value` for beamline-specific logic.
-    - LH3 polarisation is indistinguishable from LH in hardware; special handling is provided.
-    - Supports multiple polarisation modes, including linear horizontal (LH), linear vertical (LV),
-      positive circular (PC), negative circular (NC), and linear arbitrary (LA).
-
-    """
-
-    def __init__(
-        self,
-        apple2: Apple2Type,
-        gap_energy_motor_converter: EnergyMotorConvertor,
-        phase_energy_motor_converter: EnergyMotorConvertor,
-        units: str = "eV",
-        name: str = "",
-    ) -> None:
-        """
-
-        Parameters
-        ----------
-        apple2: Apple2
-            An Apple2 device.
-        name: str
-            Name of the device.
-        """
-        self.apple2 = Reference(apple2)
-        self.gap_energy_motor_converter = gap_energy_motor_converter
-        self.phase_energy_motor_converter = phase_energy_motor_converter
-
-        # Store the set energy for readback.
-        self._energy, self._energy_set = soft_signal_r_and_setter(
-            float, initial_value=None, units=units
-        )
-        with self.add_children_as_readables(StandardReadableFormat.HINTED_SIGNAL):
-            self.energy = derived_signal_rw(
-                raw_to_derived=self._read_energy,
-                set_derived=self._set_energy,
-                energy=self._energy,
-                derived_units=units,
-            )
-
-        # Store the polarisation for setpoint. And provide readback for LH3.
-        # LH3 is a special case as it is indistinguishable from LH in the hardware.
-        self.polarisation_setpoint, self._polarisation_setpoint_set = (
-            soft_signal_r_and_setter(Pol)
-        )
-        phase = self.apple2().phase()
-        # check if undulator phase is unlocked.
-        if isinstance(phase, UndulatorPhaseAxes):
-            top_inner = phase.top_inner.user_readback
-            btm_outer = phase.btm_outer.user_readback
-        else:
-            # If locked phase axes make the locked phase 0.
-            top_inner = btm_outer = soft_signal_rw(float, initial_value=0.0)
-
-        with self.add_children_as_readables(StandardReadableFormat.HINTED_SIGNAL):
-            # Hardware backed read/write for polarisation.
-
-            self.polarisation = derived_signal_rw(
-                raw_to_derived=self._read_pol,
-                set_derived=self._set_pol,
-                pol=self.polarisation_setpoint,
-                top_outer=phase.top_outer.user_readback,
-                top_inner=top_inner,
-                btm_inner=phase.btm_inner.user_readback,
-                btm_outer=btm_outer,
-                gap=self.apple2().gap().user_readback,
-            )
-        super().__init__(name)
-
-    @abc.abstractmethod
-    def _get_apple2_value(self, gap: float, phase: float, pol: Pol) -> Apple2Val:
-        """
-        This method should be implemented by the beamline specific ID class as the
-        motor positions will be different for each beamline depending on the
-        undulator design.
-        """
-
-    async def _set_motors_from_energy_and_polarisation(
-        self, energy: float, pol: Pol
-    ) -> None:
-        """Set the undulator motors for a given energy and polarisation."""
-        gap = self.gap_energy_motor_converter(energy=energy, pol=pol)
-        phase = self.phase_energy_motor_converter(energy=energy, pol=pol)
-        apple2_val = self._get_apple2_value(gap, phase, pol)
-        LOGGER.info(f"Setting polarisation to {pol}, with values: {apple2_val}")
-        await self.apple2().set(id_motor_values=apple2_val)
-
-    async def _set_energy(self, energy: float) -> None:
-        pol = await self._check_and_get_pol_setpoint()
-        await self._set_motors_from_energy_and_polarisation(energy, pol)
-        self._energy_set(energy)
-
-    def _read_energy(self, energy: float) -> float:
-        """Readback for energy is just the set value."""
-        return energy
-
-    async def _check_and_get_pol_setpoint(self) -> Pol:
-        """
-        Check the polarisation setpoint and if it is NONE try to read it from
-        hardware.
-        """
-        pol = await self.polarisation_setpoint.get_value()
-
-        if pol == Pol.NONE:
-            LOGGER.warning(
-                "Found no setpoint for polarisation. Attempting to"
-                " determine polarisation from hardware..."
-            )
-            pol = await self.polarisation.get_value()
-            if pol == Pol.NONE:
-                raise ValueError(
-                    f"Polarisation cannot be determined from hardware for {self.name}"
-                )
-            self._polarisation_setpoint_set(pol)
-        return pol
-
-    async def _set_pol(
-        self,
-        value: Pol,
-    ) -> None:
-        # This changes the pol setpoint and then changes polarisation via set energy.
-        self._polarisation_setpoint_set(value)
-        await self.energy.set(await self.energy.get_value(), timeout=MAXIMUM_MOVE_TIME)
-
-    def _read_pol(
-        self,
-        pol: Pol,
-        top_outer: float,
-        top_inner: float,
-        btm_inner: float,
-        btm_outer: float,
-        gap: float,
-    ) -> Pol:
-        LOGGER.info(
-            f"Reading polarisation setpoint from hardware: "
-            f"top_outer={top_outer}, top_inner={top_inner}, "
-            f"btm_inner={btm_inner}, btm_outer={btm_outer}, gap={gap}."
-        )
-
-        read_pol, _ = self.determine_phase_from_hardware(
-            top_outer, top_inner, btm_inner, btm_outer, gap
-        )
-        # LH3 is indistinguishable from LH see determine_phase_from_hardware's docString
-        # so we return LH3 if the setpoint is LH3 and the readback is LH.
-        if pol == Pol.LH3 and read_pol == Pol.LH:
-            LOGGER.info(
-                "The hardware cannot distinguish between LH and LH3."
-                " Returning the last commanded polarisation value"
-            )
-            return Pol.LH3
-
-        return read_pol
-
-    def determine_phase_from_hardware(
-        self,
-        top_outer: float,
-        top_inner: float,
-        btm_inner: float,
-        btm_outer: float,
-        gap: float,
-    ) -> tuple[Pol, float]:
-        """
-        Determine polarisation and phase value using motor position patterns.
-        However there is no way to return lh3 polarisation or higher harmonic setting.
-        (May be for future one can use the inverse poly to work out the energy and try to match it with the current energy
-        to workout the polarisation but during my test the inverse poly is too unstable for general use.)
-        """
-        if gap > MAXIMUM_GAP_MOTOR_POSITION:
-            raise RuntimeError(
-                f"{self.name} is not in use, close gap or set polarisation to use this ID"
-            )
-
-        if all(
-            isclose(x, 0.0, abs_tol=ROW_PHASE_MOTOR_TOLERANCE)
-            for x in [top_outer, top_inner, btm_inner, btm_outer]
-        ):
-            LOGGER.info("Determined polarisation: LH (Linear Horizontal).")
-            return Pol.LH, 0.0
-        if (
-            isclose(
-                top_outer,
-                MAXIMUM_ROW_PHASE_MOTOR_POSITION,
-                abs_tol=ROW_PHASE_MOTOR_TOLERANCE,
-            )
-            and isclose(top_inner, 0.0, abs_tol=ROW_PHASE_MOTOR_TOLERANCE)
-            and isclose(
-                btm_inner,
-                MAXIMUM_ROW_PHASE_MOTOR_POSITION,
-                abs_tol=ROW_PHASE_MOTOR_TOLERANCE,
-            )
-            and isclose(btm_outer, 0.0, abs_tol=ROW_PHASE_MOTOR_TOLERANCE)
-        ):
-            LOGGER.info("Determined polarisation: LV (Linear Vertical).")
-            return Pol.LV, MAXIMUM_ROW_PHASE_MOTOR_POSITION
-        if (
-            isclose(top_outer, btm_inner, abs_tol=ROW_PHASE_MOTOR_TOLERANCE)
-            and top_outer > 0.0
-            and isclose(top_inner, 0.0, abs_tol=ROW_PHASE_MOTOR_TOLERANCE)
-            and isclose(btm_outer, 0.0, abs_tol=ROW_PHASE_MOTOR_TOLERANCE)
-        ):
-            LOGGER.info("Determined polarisation: PC (Positive Circular).")
-            return Pol.PC, top_outer
-        if (
-            isclose(top_outer, btm_inner, abs_tol=ROW_PHASE_MOTOR_TOLERANCE)
-            and top_outer < 0.0
-            and isclose(top_inner, 0.0, abs_tol=ROW_PHASE_MOTOR_TOLERANCE)
-            and isclose(btm_outer, 0.0, abs_tol=ROW_PHASE_MOTOR_TOLERANCE)
-        ):
-            LOGGER.info("Determined polarisation: NC (Negative Circular).")
-            return Pol.NC, top_outer
-        if (
-            isclose(top_outer, -btm_inner, abs_tol=ROW_PHASE_MOTOR_TOLERANCE)
-            and isclose(top_inner, 0.0, abs_tol=ROW_PHASE_MOTOR_TOLERANCE)
-            and isclose(btm_outer, 0.0, abs_tol=ROW_PHASE_MOTOR_TOLERANCE)
-        ):
-            LOGGER.info("Determined polarisation: LA (Positive Linear Arbitrary).")
-            return Pol.LA, top_outer
-        if (
-            isclose(top_inner, -btm_outer, abs_tol=ROW_PHASE_MOTOR_TOLERANCE)
-            and isclose(top_outer, 0.0, abs_tol=ROW_PHASE_MOTOR_TOLERANCE)
-            and isclose(btm_inner, 0.0, abs_tol=ROW_PHASE_MOTOR_TOLERANCE)
-        ):
-            LOGGER.info("Determined polarisation: LA (Negative Linear Arbitrary).")
-            return Pol.LA, top_inner
-
-        LOGGER.warning("Unable to determine polarisation. Defaulting to NONE.")
-        return Pol.NONE, 0.0
-
-
-class Apple2EnforceLHMoveController(Apple2Controller[Apple2]):
-    """The latest Apple2 version allows unrestricted motor movement.
-    However, because of the high forces involved in polarization changes,
-    all movements must be performed using the Linear Horizontal (LH) mode.
-    A look-up table must also be used to determine the highest energy that can
-    be reached in LH mode."""
-
-    def __init__(
-        self,
-        apple2: Apple2,
-        gap_energy_motor_lut: EnergyMotorLookup,
-        phase_energy_motor_lut: EnergyMotorLookup,
-        units: str = "eV",
-        name: str = "",
-    ) -> None:
-        self.gap_energy_motor_lu = gap_energy_motor_lut
-        self.phase_energy_motor_lu = phase_energy_motor_lut
-        super().__init__(
-            apple2=apple2,
-            gap_energy_motor_converter=gap_energy_motor_lut.find_value_in_lookup_table,
-            phase_energy_motor_converter=phase_energy_motor_lut.find_value_in_lookup_table,
-            units=units,
-            name=name,
-        )
-
-    def _get_apple2_value(self, gap: float, phase: float, pol: Pol) -> Apple2Val:
-        apple2_val = Apple2Val(
-            gap=f"{gap:.6f}",
-            phase=Apple2PhasesVal(
-                top_outer=f"{phase:.6f}",
-                top_inner=f"{0.0:.6f}",
-                btm_inner=f"{phase:.6f}",
-                btm_outer=f"{0.0:.6f}",
-            ),
-        )
-        LOGGER.info(f"Getting apple2 value for pol={pol}, gap={gap}, phase={phase}.")
-        LOGGER.info(f"Apple2 motor values: {apple2_val}.")
-
-        return apple2_val
-
-    async def _set_pol(
-        self,
-        value: Pol,
-    ) -> None:
-        # I09/I21 require all polarisation change to go via LH.
-        current_pol = await self.polarisation.get_value()
-        if current_pol == value:
-            LOGGER.info(f"Polarisation already at {value}")
-        else:
-            target_energy = await self.energy.get_value()
-            if (value is not Pol.LH) and (current_pol is not Pol.LH):
-                self._polarisation_setpoint_set(Pol.LH)
-                max_lh_energy = float(
-                    self.gap_energy_motor_lu.lut.root[Pol("lh")].max_energy
-                )
-                lh_setpoint = (
-                    max_lh_energy if target_energy > max_lh_energy else target_energy
-                )
-                LOGGER.info(f"Changing polarisation to {value} via {Pol.LH}")
-                await self.energy.set(lh_setpoint, timeout=MAXIMUM_MOVE_TIME)
-            self._polarisation_setpoint_set(value)
-            await self.energy.set(target_energy, timeout=MAXIMUM_MOVE_TIME)
-
-
-class InsertionDeviceEnergyBase(abc.ABC, StandardReadable, Movable):
-    """Base class for ID energy movable device."""
-
-    def __init__(self, name: str = "") -> None:
-        self.energy: Reference[SignalRW[float]]
-        super().__init__(name=name)
-
-    @abc.abstractmethod
-    @AsyncStatus.wrap
-    async def set(self, energy: float) -> None: ...
-
-
-class BeamEnergy(StandardReadable, Movable[float]):
-    """
-    Compound device to set both ID and energy motor at the same time with an option to add an offset.
-    """
-
-    def __init__(
-        self, id_energy: InsertionDeviceEnergyBase, mono: Motor, name: str = ""
-    ) -> None:
-        """
-        Parameters
-        ----------
-
-        id_energy: InsertionDeviceEnergy
-            An InsertionDeviceEnergy device.
-        mono: Motor
-            A Motor(energy) device.
-        name:
-            New device name.
-        """
-        super().__init__(name=name)
-        self._id_energy = Reference(id_energy)
-        self._mono_energy = Reference(mono)
-
-        self.add_readables(
-            [
-                self._id_energy().energy(),
-                self._mono_energy().user_readback,
-            ],
-            StandardReadableFormat.HINTED_SIGNAL,
-        )
-
-        with self.add_children_as_readables(StandardReadableFormat.CONFIG_SIGNAL):
-            self.id_energy_offset = soft_signal_rw(float, initial_value=0)
-
-    @AsyncStatus.wrap
-    async def set(self, energy: float) -> None:
-        LOGGER.info(f"Moving f{self.name} energy to {energy}.")
-        await asyncio.gather(
-            self._id_energy().set(
-                energy=energy + await self.id_energy_offset.get_value()
-            ),
-            self._mono_energy().set(energy),
-        )
-
-
-class InsertionDeviceEnergy(InsertionDeviceEnergyBase):
-    """Apple2 ID energy movable device."""
-
-    def __init__(self, id_controller: Apple2Controller, name: str = "") -> None:
-        self.energy = Reference(id_controller.energy)
-        super().__init__(name=name)
-
-        self.add_readables([self.energy()], StandardReadableFormat.HINTED_SIGNAL)
-
-    @AsyncStatus.wrap
-    async def set(self, energy: float) -> None:
-        await self.energy().set(energy, timeout=MAXIMUM_MOVE_TIME)
-
-
-class InsertionDevicePolarisation(StandardReadable, Locatable[Pol]):
-    """Apple2 ID polarisation movable device."""
-
-    def __init__(self, id_controller: Apple2Controller, name: str = "") -> None:
-        self.polarisation = Reference(id_controller.polarisation)
-        self.polarisation_setpoint = Reference(id_controller.polarisation_setpoint)
-        super().__init__(name=name)
-
-        self.add_readables([self.polarisation()], StandardReadableFormat.HINTED_SIGNAL)
-
-    @AsyncStatus.wrap
-    async def set(self, pol: Pol) -> None:
-        await self.polarisation().set(pol, timeout=MAXIMUM_MOVE_TIME)
-
-    async def locate(self) -> Location[Pol]:
-        """Return the current polarisation"""
-        setpoint, readback = await asyncio.gather(
-            self.polarisation_setpoint().get_value(), self.polarisation().get_value()
-        )
-        return Location(setpoint=setpoint, readback=readback)