mx-bluesky 1.1.0__py3-none-any.whl → 1.4.0__py3-none-any.whl

mx_bluesky/hyperion/experiment_plans/robot_load_and_change_energy.py

@@ -0,0 +1,241 @@
+from __future__ import annotations
+
+import dataclasses
+from collections.abc import Generator
+from datetime import datetime
+from pathlib import Path
+from typing import cast
+
+import bluesky.plan_stubs as bps
+import bluesky.preprocessors as bpp
+from blueapi.core import BlueskyContext
+from bluesky.utils import Msg
+from dodal.devices.aperturescatterguard import ApertureScatterguard, ApertureValue
+from dodal.devices.attenuator import Attenuator
+from dodal.devices.dcm import DCM
+from dodal.devices.focusing_mirror import FocusingMirrorWithStripes, MirrorVoltages
+from dodal.devices.motors import XYZPositioner
+from dodal.devices.oav.oav_detector import OAV
+from dodal.devices.robot import BartRobot, SampleLocation
+from dodal.devices.smargon import Smargon, StubPosition
+from dodal.devices.thawer import Thawer
+from dodal.devices.undulator_dcm import UndulatorDCM
+from dodal.devices.webcam import Webcam
+from dodal.devices.xbpm_feedback import XBPMFeedback
+from dodal.plans.motor_util_plans import MoveTooLarge, home_and_reset_wrapper
+
+from mx_bluesky.hyperion.experiment_plans.set_energy_plan import (
+    SetEnergyComposite,
+    set_energy_plan,
+)
+from mx_bluesky.hyperion.log import LOGGER
+from mx_bluesky.hyperion.parameters.constants import CONST
+from mx_bluesky.hyperion.parameters.robot_load import RobotLoadAndEnergyChange
+
+
+@dataclasses.dataclass
+class RobotLoadAndEnergyChangeComposite:
+    # SetEnergyComposite fields
+    vfm: FocusingMirrorWithStripes
+    mirror_voltages: MirrorVoltages
+    dcm: DCM
+    undulator_dcm: UndulatorDCM
+    xbpm_feedback: XBPMFeedback
+    attenuator: Attenuator
+
+    # RobotLoad fields
+    robot: BartRobot
+    webcam: Webcam
+    lower_gonio: XYZPositioner
+    thawer: Thawer
+    oav: OAV
+    smargon: Smargon
+    aperture_scatterguard: ApertureScatterguard
+
+
+def create_devices(context: BlueskyContext) -> RobotLoadAndEnergyChangeComposite:
+    from mx_bluesky.hyperion.utils.context import device_composite_from_context
+
+    return device_composite_from_context(context, RobotLoadAndEnergyChangeComposite)
+
+
+def wait_for_smargon_not_disabled(smargon: Smargon, timeout=60):
+    """Waits for the smargon disabled flag to go low. The robot hardware is responsible
+    for setting this to low when it is safe to move. It does this through a physical
+    connection between the robot and the smargon.
+    """
+    LOGGER.info("Waiting for smargon enabled")
+    SLEEP_PER_CHECK = 0.1
+    times_to_check = int(timeout / SLEEP_PER_CHECK)
+    for _ in range(times_to_check):
+        smargon_disabled = yield from bps.rd(smargon.disabled)
+        if not smargon_disabled:
+            LOGGER.info("Smargon now enabled")
+            return
+        yield from bps.sleep(SLEEP_PER_CHECK)
+    raise TimeoutError(
+        "Timed out waiting for smargon to become enabled after robot load"
+    )
+
+
+def take_robot_snapshots(oav: OAV, webcam: Webcam, directory: Path):
+    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, str(directory))
+        # Note: should be able to use `wait=True` after https://github.com/bluesky/bluesky/issues/1795
+        yield from bps.trigger(device, group="snapshots")
+        yield from bps.wait("snapshots")
+
+
+def prepare_for_robot_load(
+    aperture_scatterguard: ApertureScatterguard, smargon: Smargon
+):
+    yield from bps.abs_set(
+        aperture_scatterguard,
+        ApertureValue.ROBOT_LOAD,
+        group="prepare_robot_load",
+    )
+
+    yield from bps.mv(smargon.stub_offsets, StubPosition.RESET_TO_ROBOT_LOAD)  # type: ignore # See: https://github.com/bluesky/bluesky/issues/1809
+
+    # fmt: off
+    yield from bps.mv(
+        smargon.x, 0,  # type: ignore # See: https://github.com/bluesky/bluesky/issues/1809
+        smargon.y, 0,  # type: ignore # See: https://github.com/bluesky/bluesky/issues/1809
+        smargon.z, 0,  # type: ignore # See: https://github.com/bluesky/bluesky/issues/1809
+        smargon.omega, 0,  # type: ignore # See: https://github.com/bluesky/bluesky/issues/1809
+        smargon.chi, 0,  # type: ignore # See: https://github.com/bluesky/bluesky/issues/1809
+        smargon.phi, 0  # type: ignore # See: https://github.com/bluesky/bluesky/issues/1809
+    )
+    # fmt: on
+
+    yield from bps.wait("prepare_robot_load")
+
+
+def do_robot_load(
+    composite: RobotLoadAndEnergyChangeComposite,
+    sample_location: SampleLocation,
+    demand_energy_ev: float | None,
+    thawing_time: float,
+):
+    yield from bps.abs_set(
+        composite.robot,
+        sample_location,
+        group="robot_load",
+    )
+
+    if demand_energy_ev:
+        yield from set_energy_plan(
+            demand_energy_ev / 1000,
+            cast(SetEnergyComposite, composite),
+        )
+
+    yield from bps.wait("robot_load")
+
+    yield from bps.abs_set(
+        composite.thawer.thaw_for_time_s,  # type: ignore # See: https://github.com/bluesky/bluesky/issues/1809
+        thawing_time,
+        group="thawing_finished",
+    )
+    yield from wait_for_smargon_not_disabled(composite.smargon)
+
+
+def raise_exception_if_moved_out_of_cryojet(exception):
+    yield from bps.null()
+    if isinstance(exception, MoveTooLarge):
+        raise Exception(
+            f"Moving {exception.axis} back to {exception.position} after \
+                        robot load would move it out of the cryojet. The max safe \
+                        distance is {exception.maximum_move}"
+        )
+
+
+def pin_already_loaded(
+    robot: BartRobot, sample_location: SampleLocation
+) -> Generator[Msg, None, bool]:
+    current_puck = yield from bps.rd(robot.current_puck)
+    current_pin = yield from bps.rd(robot.current_pin)
+    return (
+        int(current_puck) == sample_location.puck
+        and int(current_pin) == sample_location.pin
+    )
+
+
+def robot_load_and_snapshots(
+    composite: RobotLoadAndEnergyChangeComposite,
+    location: SampleLocation,
+    snapshot_directory: Path,
+    thawing_time: float,
+    demand_energy_ev: float | None,
+):
+    robot_load_plan = do_robot_load(
+        composite,
+        location,
+        demand_energy_ev,
+        thawing_time,
+    )
+
+    # The lower gonio must be in the correct position for the robot load and we
+    # want to put it back afterwards. Note we don't wait the robot is interlocked
+    # to the lower gonio and the  move is quicker than the robot takes to get to the
+    # load position.
+    yield from bpp.contingency_wrapper(
+        home_and_reset_wrapper(
+            robot_load_plan,
+            composite.lower_gonio,
+            BartRobot.LOAD_TOLERANCE_MM,
+            CONST.HARDWARE.CRYOJET_MARGIN_MM,
+            "lower_gonio",
+            wait_for_all=False,
+        ),
+        except_plan=raise_exception_if_moved_out_of_cryojet,
+    )
+
+    yield from take_robot_snapshots(composite.oav, composite.webcam, snapshot_directory)
+
+    yield from bps.create(name=CONST.DESCRIPTORS.ROBOT_LOAD)
+    yield from bps.read(composite.robot.barcode)
+    yield from bps.read(composite.oav.snapshot)  # type: ignore # See: https://github.com/bluesky/bluesky/issues/1809
+    yield from bps.read(composite.webcam)
+    yield from bps.save()
+
+    yield from bps.wait("reset-lower_gonio")
+
+
+def robot_load_and_change_energy_plan(
+    composite: RobotLoadAndEnergyChangeComposite,
+    params: RobotLoadAndEnergyChange,
+):
+    assert params.sample_puck is not None
+    assert params.sample_pin is not None
+
+    sample_location = SampleLocation(params.sample_puck, params.sample_pin)
+
+    yield from prepare_for_robot_load(
+        composite.aperture_scatterguard, composite.smargon
+    )
+    yield from bpp.run_wrapper(
+        robot_load_and_snapshots(
+            composite,
+            sample_location,
+            params.snapshot_directory,
+            params.thawing_time,
+            params.demand_energy_ev,
+        ),
+        md={
+            "subplan_name": CONST.PLAN.ROBOT_LOAD,
+            "metadata": {
+                "visit": params.visit,
+                "sample_id": params.sample_id,
+                "sample_puck": sample_location.puck,
+                "sample_pin": sample_location.pin,
+            },
+            "activate_callbacks": [
+                "RobotLoadISPyBCallback",
+            ],
+        },
+    )

mx_bluesky/hyperion/experiment_plans/robot_load_then_centre_plan.py

@@ -1,16 +1,10 @@
 from __future__ import annotations
 
 import dataclasses
-from collections.abc import Generator
-from datetime import datetime
-from pathlib import Path
 from typing import cast
 
-import bluesky.plan_stubs as bps
-import bluesky.preprocessors as bpp
 from blueapi.core import BlueskyContext, MsgGenerator
-from bluesky.utils import Msg
-from dodal.devices.aperturescatterguard import ApertureScatterguard, ApertureValue
+from dodal.devices.aperturescatterguard import ApertureScatterguard
 from dodal.devices.attenuator import Attenuator
 from dodal.devices.backlight import Backlight
 from dodal.devices.dcm import DCM
@@ -18,13 +12,13 @@ from dodal.devices.detector.detector_motion import DetectorMotion
 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.focusing_mirror import FocusingMirrorWithStripes, MirrorVoltages
 from dodal.devices.motors import XYZPositioner
 from dodal.devices.oav.oav_detector import OAV
 from dodal.devices.oav.pin_image_recognition import PinTipDetection
 from dodal.devices.robot import BartRobot, SampleLocation
 from dodal.devices.s4_slit_gaps import S4SlitGaps
-from dodal.devices.smargon import Smargon, StubPosition
+from dodal.devices.smargon import Smargon
 from dodal.devices.synchrotron import Synchrotron
 from dodal.devices.thawer import Thawer
 from dodal.devices.undulator import Undulator
@@ -34,10 +28,12 @@ from dodal.devices.xbpm_feedback import XBPMFeedback
 from dodal.devices.zebra import Zebra
 from dodal.devices.zebra_controlled_shutter import ZebraShutter
 from dodal.devices.zocalo import ZocaloResults
-from dodal.plans.motor_util_plans import MoveTooLarge, home_and_reset_wrapper
+from dodal.log import LOGGER
 from ophyd_async.fastcs.panda import HDFPanda
 
+from mx_bluesky.common.parameters.constants import OavConstants
 from mx_bluesky.hyperion.device_setup_plans.utils import (
+    fill_in_energy_if_not_supplied,
     start_preparing_data_collection_then_do_plan,
 )
 from mx_bluesky.hyperion.experiment_plans.grid_detect_then_xray_centre_plan import (
@@ -46,12 +42,11 @@ from mx_bluesky.hyperion.experiment_plans.grid_detect_then_xray_centre_plan impo
 from mx_bluesky.hyperion.experiment_plans.pin_centre_then_xray_centre_plan import (
     pin_centre_then_xray_centre_plan,
 )
-from mx_bluesky.hyperion.experiment_plans.set_energy_plan import (
-    SetEnergyComposite,
-    read_energy,
-    set_energy_plan,
+from mx_bluesky.hyperion.experiment_plans.robot_load_and_change_energy import (
+    RobotLoadAndEnergyChangeComposite,
+    pin_already_loaded,
+    robot_load_and_change_energy_plan,
 )
-from mx_bluesky.hyperion.log import LOGGER
 from mx_bluesky.hyperion.parameters.constants import CONST
 from mx_bluesky.hyperion.parameters.gridscan import RobotLoadThenCentre
 
@@ -84,7 +79,7 @@ class RobotLoadThenCentreComposite:
 
     # SetEnergyComposite fields
     vfm: FocusingMirrorWithStripes
-    vfm_mirror_voltages: VFMMirrorVoltages
+    mirror_voltages: MirrorVoltages
     dcm: DCM
     undulator_dcm: UndulatorDCM
 
@@ -100,147 +95,10 @@ def create_devices(context: BlueskyContext) -> RobotLoadThenCentreComposite:
     return device_composite_from_context(context, RobotLoadThenCentreComposite)
 
 
-def wait_for_smargon_not_disabled(smargon: Smargon, timeout=60):
-    """Waits for the smargon disabled flag to go low. The robot hardware is responsible
-    for setting this to low when it is safe to move. It does this through a physical
-    connection between the robot and the smargon.
-    """
-    LOGGER.info("Waiting for smargon enabled")
-    SLEEP_PER_CHECK = 0.1
-    times_to_check = int(timeout / SLEEP_PER_CHECK)
-    for _ in range(times_to_check):
-        smargon_disabled = yield from bps.rd(smargon.disabled)
-        if not smargon_disabled:
-            LOGGER.info("Smargon now enabled")
-            return
-        yield from bps.sleep(SLEEP_PER_CHECK)
-    raise TimeoutError(
-        "Timed out waiting for smargon to become enabled after robot load"
-    )
-
-
-def take_robot_snapshots(oav: OAV, webcam: Webcam, directory: Path):
-    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, str(directory))
-        # Note: should be able to use `wait=True` after https://github.com/bluesky/bluesky/issues/1795
-        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,
-        ApertureValue.ROBOT_LOAD,
-        group="prepare_robot_load",
-    )
-
-    yield from bps.mv(composite.smargon.stub_offsets, StubPosition.RESET_TO_ROBOT_LOAD)
-
-    # fmt: off
-    yield from bps.mv(composite.smargon.x, 0,
-                      composite.smargon.y, 0,
-                      composite.smargon.z, 0,
-                      composite.smargon.omega, 0,
-                      composite.smargon.chi, 0,
-                      composite.smargon.phi, 0)
-    # fmt: on
-
-    yield from bps.wait("prepare_robot_load")
-
-
-def do_robot_load(
-    composite: RobotLoadThenCentreComposite,
-    sample_location: SampleLocation,
-    demand_energy_ev: float | None,
-    thawing_time: float,
-):
-    yield from bps.abs_set(
-        composite.robot,
-        sample_location,
-        group="robot_load",
-    )
-
-    if demand_energy_ev:
-        yield from set_energy_plan(
-            demand_energy_ev / 1000,
-            cast(SetEnergyComposite, composite),
-        )
-
-    yield from bps.wait("robot_load")
-
-    yield from bps.abs_set(
-        composite.thawer.thaw_for_time_s, thawing_time, group="thawing_finished"
-    )
-    yield from wait_for_smargon_not_disabled(composite.smargon)
-
-
-def raise_exception_if_moved_out_of_cryojet(exception):
-    yield from bps.null()
-    if isinstance(exception, MoveTooLarge):
-        raise Exception(
-            f"Moving {exception.axis} back to {exception.position} after \
-                        robot load would move it out of the cryojet. The max safe \
-                        distance is {exception.maximum_move}"
-        )
-
-
-def _pin_already_loaded(
-    robot: BartRobot, pin_to_load: int, puck_to_load: int
-) -> Generator[Msg, None, bool]:
-    current_puck = yield from bps.rd(robot.current_puck)
-    current_pin = yield from bps.rd(robot.current_pin)
-    return int(current_puck) == puck_to_load and int(current_pin) == pin_to_load
-
-
-def robot_load_and_snapshots(
-    composite: RobotLoadThenCentreComposite,
-    params: RobotLoadThenCentre,
-    location: SampleLocation,
-):
-    robot_load_plan = do_robot_load(
-        composite,
-        location,
-        params.demand_energy_ev,
-        params.thawing_time,
-    )
-
-    # The lower gonio must be in the correct position for the robot load and we
-    # want to put it back afterwards. Note we don't wait the robot is interlocked
-    # to the lower gonio and the  move is quicker than the robot takes to get to the
-    # load position.
-    yield from bpp.contingency_wrapper(
-        home_and_reset_wrapper(
-            robot_load_plan,
-            composite.lower_gonio,
-            BartRobot.LOAD_TOLERANCE_MM,
-            CONST.HARDWARE.CRYOJET_MARGIN_MM,
-            "lower_gonio",
-            wait_for_all=False,
-        ),
-        except_plan=raise_exception_if_moved_out_of_cryojet,
-    )
-
-    yield from take_robot_snapshots(
-        composite.oav, composite.webcam, params.snapshot_directory
-    )
-
-    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 bps.wait("reset-lower_gonio")
-
-
 def centring_plan_from_robot_load_params(
     composite: RobotLoadThenCentreComposite,
     params: RobotLoadThenCentre,
+    oav_config_file: str = OavConstants.OAV_CONFIG_JSON,
 ):
     yield from pin_centre_then_xray_centre_plan(
         cast(GridDetectThenXRayCentreComposite, composite),
@@ -251,26 +109,14 @@ def centring_plan_from_robot_load_params(
 def robot_load_then_centre_plan(
     composite: RobotLoadThenCentreComposite,
     params: RobotLoadThenCentre,
-    sample_location: SampleLocation,
+    oav_config_file: str = OavConstants.OAV_CONFIG_JSON,
 ):
-    yield from prepare_for_robot_load(composite)
-    yield from bpp.run_wrapper(
-        robot_load_and_snapshots(composite, params, sample_location),
-        md={
-            "subplan_name": CONST.PLAN.ROBOT_LOAD,
-            "metadata": {
-                "visit_path": str(params.visit_directory),
-                "sample_id": params.sample_id,
-                "sample_puck": params.sample_puck,
-                "sample_pin": params.sample_pin,
-            },
-            "activate_callbacks": [
-                "RobotLoadISPyBCallback",
-            ],
-        },
+    yield from robot_load_and_change_energy_plan(
+        cast(RobotLoadAndEnergyChangeComposite, composite),
+        params.robot_load_params(),
     )
 
-    yield from centring_plan_from_robot_load_params(composite, params)
+    yield from centring_plan_from_robot_load_params(composite, params, oav_config_file)
 
 
 def robot_load_then_centre(
@@ -283,10 +129,10 @@ def robot_load_then_centre(
     assert parameters.sample_puck is not None
     assert parameters.sample_pin is not None
 
+    sample_location = SampleLocation(parameters.sample_puck, parameters.sample_pin)
+
     doing_sample_load = not (
-        yield from _pin_already_loaded(
-            composite.robot, parameters.sample_pin, parameters.sample_puck
-        )
+        yield from pin_already_loaded(composite.robot, sample_location)
     )
 
     doing_chi_change = parameters.chi_start_deg is not None
@@ -295,7 +141,6 @@ def robot_load_then_centre(
         plan = robot_load_then_centre_plan(
             composite,
             parameters,
-            SampleLocation(parameters.sample_puck, parameters.sample_pin),
         )
         LOGGER.info("Pin not loaded, loading and centring")
     elif doing_chi_change:
@@ -305,12 +150,10 @@ def robot_load_then_centre(
         LOGGER.info("Pin already loaded and chi not changed so doing nothing")
         return
 
-    detector_params = parameters.detector_params
-    if not detector_params.expected_energy_ev:
-        actual_energy_ev = 1000 * (
-            yield from read_energy(cast(SetEnergyComposite, composite))
-        )
-        detector_params.expected_energy_ev = actual_energy_ev
+    detector_params = yield from fill_in_energy_if_not_supplied(
+        composite.dcm, parameters.detector_params
+    )
+
     eiger.set_detector_parameters(detector_params)
 
     yield from start_preparing_data_collection_then_do_plan(

mx_bluesky/hyperion/experiment_plans/rotation_scan_plan.py

@@ -24,6 +24,9 @@ from dodal.devices.zebra import RotationDirection, Zebra
 from dodal.devices.zebra_controlled_shutter import ZebraShutter
 from dodal.plans.check_topup import check_topup_and_wait_if_necessary
 
+from mx_bluesky.common.device_setup_plans.read_hardware_for_setup import (
+    read_hardware_for_zocalo,
+)
 from mx_bluesky.hyperion.device_setup_plans.manipulate_sample import (
     cleanup_sample_environment,
     move_phi_chi_omega,
@@ -32,7 +35,6 @@ from mx_bluesky.hyperion.device_setup_plans.manipulate_sample import (
 )
 from mx_bluesky.hyperion.device_setup_plans.read_hardware_for_setup import (
     read_hardware_during_collection,
-    read_hardware_for_zocalo,
     read_hardware_pre_collection,
 )
 from mx_bluesky.hyperion.device_setup_plans.setup_zebra import (
@@ -252,7 +254,7 @@ def rotation_scan_plan(
             composite.undulator,
             composite.synchrotron,
             composite.s4_slit_gaps,
-            composite.robot,
+            composite.dcm,
             composite.smargon,
         )
 
@@ -348,7 +350,7 @@ def rotation_scan(
         md={
             "subplan_name": CONST.PLAN.ROTATION_OUTER,
             CONST.TRIGGER.ZOCALO: CONST.PLAN.ROTATION_MAIN,
-            "zocalo_environment": parameters.zocalo_environment,
+            "zocalo_environment": CONST.ZOCALO_ENV,
             "hyperion_parameters": parameters.model_dump_json(),
             "activate_callbacks": [
                 "RotationISPyBCallback",
@@ -379,7 +381,7 @@ def rotation_scan(
             rotation_with_cleanup_and_stage(params),
             group=CONST.WAIT.ROTATION_READY_FOR_DC,
         )
-        yield from bps.unstage(eiger)
+        yield from bps.unstage(eiger)  # type: ignore # See: https://github.com/bluesky/bluesky/issues/1809
 
     yield from rotation_scan_plan_with_stage_and_cleanup(parameters)
 

mx_bluesky/hyperion/experiment_plans/set_energy_plan.py

@@ -6,14 +6,11 @@
 """
 
 import dataclasses
-from collections.abc import Generator
-from typing import Any
 
 from bluesky import plan_stubs as bps
-from bluesky.utils import Msg
 from dodal.devices.attenuator import Attenuator
 from dodal.devices.dcm import DCM
-from dodal.devices.focusing_mirror import FocusingMirrorWithStripes, VFMMirrorVoltages
+from dodal.devices.focusing_mirror import FocusingMirrorWithStripes, MirrorVoltages
 from dodal.devices.undulator_dcm import UndulatorDCM
 from dodal.devices.xbpm_feedback import XBPMFeedback
 
@@ -30,7 +27,7 @@ UNDULATOR_GROUP = "UNDULATOR_GROUP"
 @dataclasses.dataclass
 class SetEnergyComposite:
     vfm: FocusingMirrorWithStripes
-    vfm_mirror_voltages: VFMMirrorVoltages
+    mirror_voltages: MirrorVoltages
     dcm: DCM
     undulator_dcm: UndulatorDCM
     xbpm_feedback: XBPMFeedback
@@ -45,17 +42,12 @@ def _set_energy_plan(
     yield from dcm_pitch_roll_mirror_adjuster.adjust_dcm_pitch_roll_vfm_from_lut(
         composite.undulator_dcm,
         composite.vfm,
-        composite.vfm_mirror_voltages,
+        composite.mirror_voltages,
         energy_kev,
     )
     yield from bps.wait(group=UNDULATOR_GROUP)
 
 
-def read_energy(composite: SetEnergyComposite) -> Generator[Msg, Any, float]:
-    """Obtain the energy in kev"""
-    return (yield from bps.rd(composite.dcm.energy_in_kev))  # type: ignore
-
-
 def set_energy_plan(
     energy_kev,
     composite: SetEnergyComposite,

mx_bluesky/hyperion/external_interaction/callbacks/__main__.py

@@ -7,6 +7,7 @@ from bluesky.callbacks.zmq import Proxy, RemoteDispatcher
 from dodal.log import LOGGER as dodal_logger
 from dodal.log import set_up_all_logging_handlers
 
+from mx_bluesky.common.utils.log import _get_logging_dir, tag_filter
 from mx_bluesky.hyperion.external_interaction.callbacks.log_uid_tag_callback import (
     LogUidTaggingCallback,
 )
@@ -31,8 +32,6 @@ from mx_bluesky.hyperion.external_interaction.callbacks.zocalo_callback import (
 from mx_bluesky.hyperion.log import (
     ISPYB_LOGGER,
     NEXUS_LOGGER,
-    _get_logging_dir,
-    tag_filter,
 )
 from mx_bluesky.hyperion.parameters.cli import parse_callback_dev_mode_arg
 from mx_bluesky.hyperion.parameters.constants import CONST

mx_bluesky/hyperion/external_interaction/callbacks/common/callback_util.py

@@ -44,3 +44,21 @@ def create_rotation_callbacks() -> (
     tuple[RotationNexusFileCallback, RotationISPyBCallback]
 ):
     return (RotationNexusFileCallback(), RotationISPyBCallback(emit=ZocaloCallback()))
+
+
+def create_load_centre_collect_callbacks() -> (
+    tuple[
+        GridscanNexusFileCallback,
+        GridscanISPyBCallback,
+        RobotLoadISPyBCallback,
+        RotationNexusFileCallback,
+        RotationISPyBCallback,
+    ]
+):
+    return (
+        GridscanNexusFileCallback(),
+        GridscanISPyBCallback(emit=ZocaloCallback()),
+        RobotLoadISPyBCallback(),
+        RotationNexusFileCallback(),
+        RotationISPyBCallback(emit=ZocaloCallback()),
+    )

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

@@ -1,7 +1,6 @@
 from __future__ import annotations
 
-import re
-
+from mx_bluesky.common.parameters.components import DiffractionExperimentWithSample
 from mx_bluesky.hyperion.external_interaction.ispyb.data_model import (
     DataCollectionGroupInfo,
     DataCollectionInfo,
@@ -11,10 +10,8 @@ from mx_bluesky.hyperion.external_interaction.ispyb.ispyb_store import (
     I03_EIGER_DETECTOR,
 )
 from mx_bluesky.hyperion.external_interaction.ispyb.ispyb_utils import (
-    VISIT_PATH_REGEX,
     get_current_time_string,
 )
-from mx_bluesky.hyperion.parameters.components import DiffractionExperimentWithSample
 
 
 def populate_data_collection_group(params: DiffractionExperimentWithSample):
@@ -63,8 +60,3 @@ def get_proposal_and_session_from_visit_string(visit_string: str) -> tuple[str,
     visit_parts = visit_string.split("-")
     assert len(visit_parts) == 2, f"Unexpected visit string {visit_string}"
     return visit_parts[0], int(visit_parts[1])
-
-
-def get_visit_string_from_path(path: str | None) -> str | None:
-    match = re.search(VISIT_PATH_REGEX, path) if path else None
-    return str(match.group(1)) if match else None