mx-bluesky 1.2.0__py3-none-any.whl → 1.4.0__py3-none-any.whl

mx_bluesky/hyperion/experiment_plans/flyscan_xray_centre_plan.py

@@ -4,7 +4,6 @@ import dataclasses
 from collections.abc import Callable
 from functools import partial
 from pathlib import Path
-from time import time
 from typing import Protocol
 
 import bluesky.plan_stubs as bps
@@ -40,16 +39,15 @@ from dodal.devices.zocalo.zocalo_results import (
     ZOCALO_READING_PLAN_NAME,
     ZOCALO_STAGE_GROUP,
     ZocaloResults,
-    get_processing_result,
+    get_full_processing_results,
 )
-from dodal.plans.check_topup import check_topup_and_wait_if_necessary
 from ophyd_async.fastcs.panda import HDFPanda
-from scanspec.core import AxesPoints, Axis
 
+from mx_bluesky.common.plans.do_fgs import kickoff_and_complete_gridscan
+from mx_bluesky.common.utils.tracing import TRACER
 from mx_bluesky.hyperion.device_setup_plans.manipulate_sample import move_x_y_z
 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_panda import (
@@ -69,7 +67,6 @@ from mx_bluesky.hyperion.exceptions import WarningException
 from mx_bluesky.hyperion.log import LOGGER
 from mx_bluesky.hyperion.parameters.constants import CONST
 from mx_bluesky.hyperion.parameters.gridscan import ThreeDGridScan
-from mx_bluesky.hyperion.tracing import TRACER
 from mx_bluesky.hyperion.utils.context import device_composite_from_context
 
 
@@ -134,8 +131,8 @@ def flyscan_xray_centre(
     """
     parameters.features.update_self_from_server()
     composite.eiger.set_detector_parameters(parameters.detector_params)
-    composite.zocalo.zocalo_environment = parameters.zocalo_environment
-    composite.zocalo.use_cpu_and_gpu = parameters.use_cpu_and_gpu_zocalo
+    composite.zocalo.zocalo_environment = CONST.ZOCALO_ENV
+    composite.zocalo.use_cpu_and_gpu = parameters.features.compare_cpu_and_gpu_zocalo
 
     feature_controlled = _get_feature_controlled(composite, parameters)
 
@@ -143,8 +140,6 @@ def flyscan_xray_centre(
     @bpp.run_decorator(  # attach experiment metadata to the start document
         md={
             "subplan_name": CONST.PLAN.GRIDSCAN_OUTER,
-            CONST.TRIGGER.ZOCALO: CONST.PLAN.DO_FGS,
-            "zocalo_environment": parameters.zocalo_environment,
             "hyperion_parameters": parameters.model_dump_json(),
             "activate_callbacks": [
                 "GridscanNexusFileCallback",
@@ -202,24 +197,25 @@ def run_gridscan_and_move(
                 [fgs_composite.zocalo], name=ZOCALO_READING_PLAN_NAME
             )
             LOGGER.info("Zocalo triggered and read, interpreting results.")
-            xray_centre, bbox_size = yield from get_processing_result(
-                fgs_composite.zocalo
-            )
-            LOGGER.info(f"Got xray centre: {xray_centre}, bbox size: {bbox_size}")
-            if xray_centre is not None:
+            xrc_results = yield from get_full_processing_results(fgs_composite.zocalo)
+            LOGGER.info(f"Got xray centring results: {xrc_results}")
+            if xrc_results:
+                best_result = xrc_results[0]
+                xrc_centre_grid_coords = best_result["centre_of_mass"]
                 xray_centre = parameters.FGS_params.grid_position_to_motor_position(
-                    xray_centre
+                    np.array(xrc_centre_grid_coords)
                 )
-            else:
-                LOGGER.warning("No X-ray centre received")
-                raise CrystalNotFoundException()
-            if bbox_size is not None:
                 with TRACER.start_span("change_aperture"):
+                    bbox_size = np.abs(
+                        np.array(best_result["bounding_box"][1])
+                        - np.array(best_result["bounding_box"][0])
+                    )
                     yield from set_aperture_for_bbox_size(
                         fgs_composite.aperture_scatterguard, bbox_size
                     )
             else:
-                LOGGER.warning("No bounding box size received")
+                LOGGER.warning("No X-ray centre received")
+                raise CrystalNotFoundException()
 
         # once we have the results, go to the appropriate position
         LOGGER.info("Moving to centre of mass.")
@@ -230,12 +226,13 @@ def run_gridscan_and_move(
         if parameters.FGS_params.set_stub_offsets:
             LOGGER.info("Recentring smargon co-ordinate system to this point.")
             yield from bps.mv(
-                fgs_composite.sample_motors.stub_offsets, StubPosition.CURRENT_AS_CENTER
+                fgs_composite.sample_motors.stub_offsets,  # type: ignore # See: https://github.com/bluesky/bluesky/issues/1809
+                StubPosition.CURRENT_AS_CENTER,  # type: ignore # See: https://github.com/bluesky/bluesky/issues/1809
             )
     finally:
         # Turn off dev/shm streaming to avoid filling disk, see https://github.com/DiamondLightSource/hyperion/issues/1395
         LOGGER.info("Turning off Eiger dev/shm streaming")
-        yield from bps.abs_set(fgs_composite.eiger.odin.fan.dev_shm_enable, 0)
+        yield from bps.abs_set(fgs_composite.eiger.odin.fan.dev_shm_enable, 0)  # type: ignore # See: https://github.com/bluesky/bluesky/issues/1809
 
         # Wait on everything before returning to GDA (particularly apertures), can be removed
         # when we do not return to GDA here
@@ -266,7 +263,7 @@ def run_gridscan(
             fgs_composite.undulator,
             fgs_composite.synchrotron,
             fgs_composite.s4_slit_gaps,
-            fgs_composite.robot,
+            fgs_composite.dcm,
             fgs_composite.smargon,
         )
 
@@ -287,7 +284,7 @@ def run_gridscan(
 
     LOGGER.info("Waiting for arming to finish")
     yield from bps.wait(CONST.WAIT.GRID_READY_FOR_DC)
-    yield from bps.stage(fgs_composite.eiger)
+    yield from bps.stage(fgs_composite.eiger)  # type: ignore # See: https://github.com/bluesky/bluesky/issues/1809
 
     yield from kickoff_and_complete_gridscan(
         feature_controlled.fgs_motors,
@@ -295,66 +292,11 @@ def run_gridscan(
         fgs_composite.synchrotron,
         [parameters.scan_points_first_grid, parameters.scan_points_second_grid],
         parameters.scan_indices,
-        do_during_run=read_during_collection,
+        plan_during_collection=read_during_collection,
     )
     yield from bps.abs_set(feature_controlled.fgs_motors.z_steps, 0, wait=False)
 
 
-def kickoff_and_complete_gridscan(
-    gridscan: FastGridScanCommon,
-    eiger: EigerDetector,
-    synchrotron: Synchrotron,
-    scan_points: list[AxesPoints[Axis]],
-    scan_start_indices: list[int],
-    do_during_run: Callable[[], MsgGenerator] | None = None,
-):
-    @TRACER.start_as_current_span(CONST.PLAN.DO_FGS)
-    @bpp.set_run_key_decorator(CONST.PLAN.DO_FGS)
-    @bpp.run_decorator(
-        md={
-            "subplan_name": CONST.PLAN.DO_FGS,
-            "scan_points": scan_points,
-            "scan_start_indices": scan_start_indices,
-        }
-    )
-    @bpp.contingency_decorator(
-        except_plan=lambda e: (yield from bps.stop(eiger)),
-        else_plan=lambda: (yield from bps.unstage(eiger)),
-    )
-    def do_fgs():
-        # Check topup gate
-        expected_images = yield from bps.rd(gridscan.expected_images)
-        exposure_sec_per_image = yield from bps.rd(eiger.cam.acquire_time)
-        LOGGER.info("waiting for topup if necessary...")
-        yield from check_topup_and_wait_if_necessary(
-            synchrotron,
-            expected_images * exposure_sec_per_image,
-            30.0,
-        )
-        yield from read_hardware_for_zocalo(eiger)
-        LOGGER.info("Wait for all moves with no assigned group")
-        yield from bps.wait()
-        LOGGER.info("kicking off FGS")
-        yield from bps.kickoff(gridscan, wait=True)
-        gridscan_start_time = time()
-        LOGGER.info("Waiting for Zocalo device queue to have been cleared...")
-        yield from bps.wait(
-            ZOCALO_STAGE_GROUP
-        )  # Make sure ZocaloResults queue is clear and ready to accept our new data
-        if do_during_run:
-            LOGGER.info(f"Running {do_during_run} during FGS")
-            yield from do_during_run()
-        LOGGER.info("completing FGS")
-        yield from bps.complete(gridscan, wait=True)
-
-        # Remove this logging statement once metrics have been added
-        LOGGER.info(
-            f"Gridscan motion program took {round(time()-gridscan_start_time,2)} to complete"
-        )
-
-    yield from do_fgs()
-
-
 def wait_for_gridscan_valid(fgs_motors: FastGridScanCommon, timeout=0.5):
     LOGGER.info("Waiting for valid fgs_params")
     SLEEP_PER_CHECK = 0.1
@@ -515,8 +457,8 @@ def _panda_triggering_setup(
         )
 
     yield from bps.mv(
-        fgs_composite.panda_fast_grid_scan.time_between_x_steps_ms,
-        time_between_x_steps_ms,
+        fgs_composite.panda_fast_grid_scan.time_between_x_steps_ms,  # type: ignore # See: https://github.com/bluesky/bluesky/issues/1809
+        time_between_x_steps_ms,  # type: ignore # See: https://github.com/bluesky/bluesky/issues/1809
     )
 
     directory_provider_root = Path(parameters.storage_directory)

mx_bluesky/hyperion/experiment_plans/grid_detect_then_xray_centre_plan.py

@@ -15,7 +15,7 @@ from dodal.devices.eiger import EigerDetector
 from dodal.devices.fast_grid_scan import PandAFastGridScan, ZebraFastGridScan
 from dodal.devices.flux import Flux
 from dodal.devices.oav.oav_detector import OAV
-from dodal.devices.oav.oav_parameters import OAV_CONFIG_JSON, OAVParameters
+from dodal.devices.oav.oav_parameters import OAVParameters
 from dodal.devices.oav.pin_image_recognition import PinTipDetection
 from dodal.devices.robot import BartRobot
 from dodal.devices.s4_slit_gaps import S4SlitGaps
@@ -28,6 +28,7 @@ from dodal.devices.zebra_controlled_shutter import ZebraShutter
 from dodal.devices.zocalo import ZocaloResults
 from ophyd_async.fastcs.panda import HDFPanda
 
+from mx_bluesky.common.parameters.constants import OavConstants
 from mx_bluesky.hyperion.device_setup_plans.manipulate_sample import (
     move_aperture_if_required,
 )
@@ -109,7 +110,7 @@ def detect_grid_and_do_gridscan(
 ):
     snapshot_template = f"{parameters.detector_params.prefix}_{parameters.detector_params.run_number}_{{angle}}"
 
-    grid_params_callback = GridDetectionCallback(composite.oav.parameters)
+    grid_params_callback = GridDetectionCallback()
 
     @bpp.subs_decorator([grid_params_callback])
     def run_grid_detection_plan(
@@ -129,7 +130,8 @@ def detect_grid_and_do_gridscan(
             oav_params,
             snapshot_template,
             str(snapshot_dir),
-            grid_width_microns=parameters.grid_width_um,
+            parameters.grid_width_um,
+            parameters.box_size_um,
         )
 
     yield from run_grid_detection_plan(
@@ -178,7 +180,7 @@ def detect_grid_and_do_gridscan(
 def grid_detect_then_xray_centre(
     composite: GridDetectThenXRayCentreComposite,
     parameters: GridScanWithEdgeDetect,
-    oav_config: str = OAV_CONFIG_JSON,
+    oav_config: str = OavConstants.OAV_CONFIG_JSON,
 ) -> MsgGenerator:
     """
     A plan which combines the collection of snapshots from the OAV and the determination
@@ -204,6 +206,6 @@ def grid_detect_then_xray_centre(
         eiger,
         composite.detector_motion,
         parameters.detector_params.detector_distance,
-        plan_to_perform,
+        plan_to_perform,  # type: ignore # See: https://github.com/bluesky/bluesky/issues/1809 and MsgGenerator should allow for return values
         group=CONST.WAIT.GRID_READY_FOR_DC,
     )

mx_bluesky/hyperion/experiment_plans/oav_grid_detection_plan.py

@@ -63,7 +63,7 @@ def grid_detection_plan(
     snapshot_template: str,
     snapshot_dir: str,
     grid_width_microns: float,
-    box_size_um: float = 20,
+    box_size_um: float,
 ):
     """
     Creates the parameters for two grids that are 90 degrees from each other and
@@ -74,7 +74,7 @@ def grid_detection_plan(
         parameters (OAVParameters): Object containing parameters for setting up the OAV
         snapshot_template (str): A template for the name of the snapshots, expected to be filled in with an angle
         snapshot_dir (str): The location to save snapshots
-        grid_width_microns (int): The width of the grid to scan in microns
+        grid_width_microns (float): The width of the grid to scan in microns
         box_size_um (float): The size of each box of the grid in microns
     """
     oav: OAV = composite.oav
@@ -90,16 +90,17 @@ def grid_detection_plan(
 
     LOGGER.info("OAV Centring: Camera set up")
 
-    assert isinstance(oav.parameters.micronsPerXPixel, float)
-    box_size_x_pixels = box_size_um / oav.parameters.micronsPerXPixel
-    assert isinstance(oav.parameters.micronsPerYPixel, float)
-    box_size_y_pixels = box_size_um / oav.parameters.micronsPerYPixel
+    microns_per_pixel_x = yield from bps.rd(oav.microns_per_pixel_x)
+    microns_per_pixel_y = yield from bps.rd(oav.microns_per_pixel_y)
 
-    grid_width_pixels = int(grid_width_microns / oav.parameters.micronsPerXPixel)
+    box_size_x_pixels = box_size_um / microns_per_pixel_x
+    box_size_y_pixels = box_size_um / microns_per_pixel_y
+
+    grid_width_pixels = int(grid_width_microns / microns_per_pixel_x)
 
     # The FGS uses -90 so we need to match it
     for angle in [0, -90]:
-        yield from bps.mv(smargon.omega, angle)
+        yield from bps.mv(smargon.omega, angle)  # type: ignore # See: https://github.com/bluesky/bluesky/issues/1809
         # need to wait for the OAV image to update
         # See #673 for improvements
         yield from bps.sleep(CONST.HARDWARE.OAV_REFRESH_DELAY)
@@ -115,7 +116,7 @@ def grid_detection_plan(
             (yield from bps.rd(pin_tip_detection.triggered_bottom_edge))
         )
 
-        full_image_height_px = yield from bps.rd(oav.cam.array_size.array_size_y)
+        full_image_height_px = yield from bps.rd(oav.cam.array_size_y)
 
         # only use the area from the start of the pin onwards
         top_edge = top_edge[tip_x_px : tip_x_px + grid_width_pixels]
@@ -151,20 +152,20 @@ def grid_detection_plan(
 
         upper_left = (tip_x_px, min_y)
 
-        yield from bps.abs_set(oav.grid_snapshot.top_left_x, upper_left[0])
-        yield from bps.abs_set(oav.grid_snapshot.top_left_y, upper_left[1])
-        yield from bps.abs_set(oav.grid_snapshot.box_width, box_size_x_pixels)
-        yield from bps.abs_set(oav.grid_snapshot.num_boxes_x, x_steps)
-        yield from bps.abs_set(oav.grid_snapshot.num_boxes_y, y_steps)
+        yield from bps.abs_set(oav.grid_snapshot.top_left_x, upper_left[0])  # type: ignore # See: https://github.com/bluesky/bluesky/issues/1809
+        yield from bps.abs_set(oav.grid_snapshot.top_left_y, upper_left[1])  # type: ignore # See: https://github.com/bluesky/bluesky/issues/1809
+        yield from bps.abs_set(oav.grid_snapshot.box_width, box_size_x_pixels)  # type: ignore # See: https://github.com/bluesky/bluesky/issues/1809
+        yield from bps.abs_set(oav.grid_snapshot.num_boxes_x, x_steps)  # type: ignore # See: https://github.com/bluesky/bluesky/issues/1809
+        yield from bps.abs_set(oav.grid_snapshot.num_boxes_y, y_steps)  # type: ignore # See: https://github.com/bluesky/bluesky/issues/1809
 
         snapshot_filename = snapshot_template.format(angle=abs(angle))
 
-        yield from bps.abs_set(oav.grid_snapshot.filename, snapshot_filename)
-        yield from bps.abs_set(oav.grid_snapshot.directory, snapshot_dir)
-        yield from bps.trigger(oav.grid_snapshot, wait=True)
+        yield from bps.abs_set(oav.grid_snapshot.filename, snapshot_filename)  # type: ignore # See: https://github.com/bluesky/bluesky/issues/1809
+        yield from bps.abs_set(oav.grid_snapshot.directory, snapshot_dir)  # type: ignore # See: https://github.com/bluesky/bluesky/issues/1809
+        yield from bps.trigger(oav.grid_snapshot, wait=True)  # type: ignore # See: https://github.com/bluesky/bluesky/issues/1809
         yield from bps.create(CONST.DESCRIPTORS.OAV_GRID_SNAPSHOT_TRIGGERED)
 
-        yield from bps.read(oav.grid_snapshot)
+        yield from bps.read(oav)  # type: ignore # See: https://github.com/bluesky/bluesky/issues/1809
         yield from bps.read(smargon)
         yield from bps.save()
 

mx_bluesky/hyperion/experiment_plans/oav_snapshot_plan.py

@@ -9,8 +9,8 @@ from dodal.devices.oav.oav_detector import OAV
 from dodal.devices.oav.oav_parameters import OAVParameters
 from dodal.devices.smargon import Smargon
 
+from mx_bluesky.common.parameters.components import WithSnapshot
 from mx_bluesky.hyperion.device_setup_plans.setup_oav import setup_general_oav_params
-from mx_bluesky.hyperion.parameters.components import WithSnapshot
 from mx_bluesky.hyperion.parameters.constants import CONST, DocDescriptorNames
 
 OAV_SNAPSHOT_SETUP_SHOT = "oav_snapshot_setup_shot"
@@ -61,7 +61,8 @@ def _setup_oav(
 ):
     yield from setup_general_oav_params(composite.oav, oav_parameters)
     yield from bps.abs_set(
-        composite.oav.snapshot.directory, str(parameters.snapshot_directory)
+        composite.oav.snapshot.directory,  # type: ignore # See: https://github.com/bluesky/bluesky/issues/1809
+        str(parameters.snapshot_directory),
     )
 
 
@@ -72,10 +73,12 @@ def _take_oav_snapshot(composite: OavSnapshotComposite, omega: float):
     time_now = datetime.now()
     filename = f"{time_now.strftime('%H%M%S')}_oav_snapshot_{omega:.0f}"
     yield from bps.abs_set(
-        composite.oav.snapshot.filename, filename, group=OAV_SNAPSHOT_SETUP_SHOT
+        composite.oav.snapshot.filename,  # type: ignore # See: https://github.com/bluesky/bluesky/issues/1809
+        filename,
+        group=OAV_SNAPSHOT_SETUP_SHOT,
     )
     yield from bps.wait(group=OAV_SNAPSHOT_SETUP_SHOT)
-    yield from bps.trigger(composite.oav.snapshot, wait=True)
+    yield from bps.trigger(composite.oav.snapshot, wait=True)  # type: ignore # See: https://github.com/bluesky/bluesky/issues/1809
     yield from bps.create(DocDescriptorNames.OAV_ROTATION_SNAPSHOT_TRIGGERED)
-    yield from bps.read(composite.oav.snapshot)
+    yield from bps.read(composite.oav.snapshot)  # type: ignore # See: https://github.com/bluesky/bluesky/issues/1809
     yield from bps.save()

mx_bluesky/hyperion/experiment_plans/pin_centre_then_xray_centre_plan.py

@@ -4,8 +4,9 @@ import json
 
 from blueapi.core import BlueskyContext, MsgGenerator
 from dodal.devices.eiger import EigerDetector
-from dodal.devices.oav.oav_parameters import OAV_CONFIG_JSON, OAVParameters
+from dodal.devices.oav.oav_parameters import OAVParameters
 
+from mx_bluesky.common.parameters.constants import OavConstants
 from mx_bluesky.hyperion.device_setup_plans.manipulate_sample import move_phi_chi_omega
 from mx_bluesky.hyperion.device_setup_plans.utils import (
     start_preparing_data_collection_then_do_plan,
@@ -55,11 +56,10 @@ def create_parameters_for_grid_detection(
 def pin_centre_then_xray_centre_plan(
     composite: GridDetectThenXRayCentreComposite,
     parameters: PinTipCentreThenXrayCentre,
-    oav_config_file: str = OAV_CONFIG_JSON,
+    oav_config_file: str = OavConstants.OAV_CONFIG_JSON,
 ):
     """Plan that perfoms a pin tip centre followed by an xray centre to completely
     centre the sample"""
-    oav_config_file = parameters.oav_centring_file
 
     pin_tip_centring_composite = PinTipCentringComposite(
         oav=composite.oav,
@@ -102,7 +102,7 @@ def pin_centre_then_xray_centre_plan(
 def pin_tip_centre_then_xray_centre(
     composite: GridDetectThenXRayCentreComposite,
     parameters: PinTipCentreThenXrayCentre,
-    oav_config_file: str = OAV_CONFIG_JSON,
+    oav_config_file: str = OavConstants.OAV_CONFIG_JSON,
 ) -> MsgGenerator:
     """Starts preparing for collection then performs the pin tip centre and xray centre"""
 

mx_bluesky/hyperion/experiment_plans/pin_tip_centring_plan.py

@@ -7,7 +7,7 @@ from bluesky.utils import Msg
 from dodal.devices.backlight import Backlight
 from dodal.devices.oav.oav_detector import OAV
 from dodal.devices.oav.oav_parameters import OAV_CONFIG_JSON, OAVParameters
-from dodal.devices.oav.pin_image_recognition import PinTipDetection
+from dodal.devices.oav.pin_image_recognition import PinTipDetection, Tip
 from dodal.devices.oav.utils import (
     Pixel,
     get_move_required_so_that_beam_is_at_pixel,
@@ -43,11 +43,11 @@ def create_devices(context: BlueskyContext) -> PinTipCentringComposite:
 
 def trigger_and_return_pin_tip(
     pin_tip: PinTipDetection,
-) -> Generator[Msg, None, Pixel]:
+) -> Generator[Msg, None, Tip]:
     yield from bps.trigger(pin_tip, wait=True)
     tip_x_y_px = yield from bps.rd(pin_tip.triggered_tip)
     LOGGER.info(f"Pin tip found at {tip_x_y_px}")
-    return tip_x_y_px  # type: ignore
+    return tip_x_y_px
 
 
 def move_pin_into_view(
@@ -74,16 +74,16 @@ def move_pin_into_view(
         Tuple[int, int]: The location of the pin tip in pixels
     """
 
-    def pin_tip_valid(pin_x: float):
-        return pin_x != 0 and pin_x != pin_tip_device.INVALID_POSITION[0]
+    def pin_tip_valid(pin_xy: Tip):
+        return not all(pin_xy == pin_tip_device.INVALID_POSITION) and pin_xy[0] != 0
 
     for _ in range(max_steps):
-        tip_x_px, tip_y_px = yield from trigger_and_return_pin_tip(pin_tip_device)
+        tip_xy_px = yield from trigger_and_return_pin_tip(pin_tip_device)
 
-        if pin_tip_valid(tip_x_px):
-            return (tip_x_px, tip_y_px)
+        if pin_tip_valid(tip_xy_px):
+            return (int(tip_xy_px[0]), int(tip_xy_px[1]))
 
-        if tip_x_px == 0:
+        if tip_xy_px[0] == 0:
             # Pin is off in the -ve direction
             step_size_mm = -step_size_mm
 
@@ -97,19 +97,19 @@ def move_pin_into_view(
                 f"Pin tip is off screen, and moving {step_size_mm} mm would cross limits, "
                 f"moving to {move_within_limits} instead"
             )
-        yield from bps.mv(smargon.x, move_within_limits)
+        yield from bps.mv(smargon.x, move_within_limits)  # type: ignore # See: https://github.com/bluesky/bluesky/issues/1809
 
         # Some time for the view to settle after the move
         yield from bps.sleep(CONST.HARDWARE.OAV_REFRESH_DELAY)
 
-    tip_x_px, tip_y_px = yield from trigger_and_return_pin_tip(pin_tip_device)
+    tip_xy_px = yield from trigger_and_return_pin_tip(pin_tip_device)
 
-    if not pin_tip_valid(tip_x_px):
+    if not pin_tip_valid(tip_xy_px):
         raise WarningException(
             "Pin tip centring failed - pin too long/short/bent and out of range"
         )
     else:
-        return (tip_x_px, tip_y_px)
+        return (int(tip_xy_px[0]), int(tip_xy_px[1]))
 
 
 def pin_tip_centre_plan(
@@ -132,13 +132,13 @@ def pin_tip_centre_plan(
     pin_tip_setup = composite.pin_tip_detection
     pin_tip_detect = composite.pin_tip_detection
 
-    assert oav.parameters.micronsPerXPixel is not None
-    tip_offset_px = int(tip_offset_microns / oav.parameters.micronsPerXPixel)
+    microns_per_pixel_x = yield from bps.rd(oav.microns_per_pixel_x)
+    tip_offset_px = int(tip_offset_microns / microns_per_pixel_x)
 
     def offset_and_move(tip: Pixel):
         pixel_to_move_to = (tip[0] + tip_offset_px, tip[1])
         position_mm = yield from get_move_required_so_that_beam_is_at_pixel(
-            smargon, pixel_to_move_to, oav.parameters
+            smargon, pixel_to_move_to, oav
         )
         LOGGER.info(f"Tip centring moving to : {position_mm}")
         yield from move_smargon_warn_on_out_of_range(smargon, position_mm)
@@ -154,7 +154,7 @@ def pin_tip_centre_plan(
     tip = yield from move_pin_into_view(pin_tip_detect, smargon)
     yield from offset_and_move(tip)
 
-    yield from bps.mvr(smargon.omega, 90)
+    yield from bps.mvr(smargon.omega, 90)  # type: ignore # See: https://github.com/bluesky/bluesky/issues/1809
 
     # need to wait for the OAV image to update
     # See #673 for improvements

mx_bluesky/hyperion/experiment_plans/robot_load_and_change_energy.py

@@ -13,7 +13,7 @@ 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, 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.robot import BartRobot, SampleLocation
@@ -37,7 +37,7 @@ from mx_bluesky.hyperion.parameters.robot_load import RobotLoadAndEnergyChange
 class RobotLoadAndEnergyChangeComposite:
     # SetEnergyComposite fields
     vfm: FocusingMirrorWithStripes
-    vfm_mirror_voltages: VFMMirrorVoltages
+    mirror_voltages: MirrorVoltages
     dcm: DCM
     undulator_dcm: UndulatorDCM
     xbpm_feedback: XBPMFeedback
@@ -100,15 +100,17 @@ def prepare_for_robot_load(
         group="prepare_robot_load",
     )
 
-    yield from bps.mv(smargon.stub_offsets, StubPosition.RESET_TO_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,
-                      smargon.y, 0,
-                      smargon.z, 0,
-                      smargon.omega, 0,
-                      smargon.chi, 0,
-                      smargon.phi, 0)
+    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")
@@ -135,7 +137,9 @@ def do_robot_load(
     yield from bps.wait("robot_load")
 
     yield from bps.abs_set(
-        composite.thawer.thaw_for_time_s, thawing_time, group="thawing_finished"
+        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)
 
@@ -195,7 +199,7 @@ def robot_load_and_snapshots(
 
     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.oav.snapshot)  # type: ignore # See: https://github.com/bluesky/bluesky/issues/1809
     yield from bps.read(composite.webcam)
     yield from bps.save()
 

mx_bluesky/hyperion/experiment_plans/robot_load_then_centre_plan.py

@@ -12,7 +12,7 @@ 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
@@ -31,6 +31,7 @@ from dodal.devices.zocalo import ZocaloResults
 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,
@@ -78,7 +79,7 @@ class RobotLoadThenCentreComposite:
 
     # SetEnergyComposite fields
     vfm: FocusingMirrorWithStripes
-    vfm_mirror_voltages: VFMMirrorVoltages
+    mirror_voltages: MirrorVoltages
     dcm: DCM
     undulator_dcm: UndulatorDCM
 
@@ -97,6 +98,7 @@ def create_devices(context: BlueskyContext) -> RobotLoadThenCentreComposite:
 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),
@@ -107,13 +109,14 @@ def centring_plan_from_robot_load_params(
 def robot_load_then_centre_plan(
     composite: RobotLoadThenCentreComposite,
     params: RobotLoadThenCentre,
+    oav_config_file: str = OavConstants.OAV_CONFIG_JSON,
 ):
     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(

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)