mx-bluesky 1.4.2__py3-none-any.whl → 1.4.4__py3-none-any.whl

mx_bluesky/hyperion/experiment_plans/flyscan_xray_centre_plan.py

@@ -16,7 +16,7 @@ from bluesky.utils import MsgGenerator
 from dodal.devices.aperturescatterguard import (
     ApertureScatterguard,
 )
-from dodal.devices.attenuator import Attenuator
+from dodal.devices.attenuator.attenuator import BinaryFilterAttenuator
 from dodal.devices.backlight import Backlight
 from dodal.devices.dcm import DCM
 from dodal.devices.eiger import EigerDetector
@@ -35,8 +35,8 @@ from dodal.devices.smargon import Smargon
 from dodal.devices.synchrotron import Synchrotron
 from dodal.devices.undulator import Undulator
 from dodal.devices.xbpm_feedback import XBPMFeedback
-from dodal.devices.zebra import Zebra
-from dodal.devices.zebra_controlled_shutter import ZebraShutter
+from dodal.devices.zebra.zebra import Zebra
+from dodal.devices.zebra.zebra_controlled_shutter import ZebraShutter
 from dodal.devices.zocalo.zocalo_results import (
     ZOCALO_READING_PLAN_NAME,
     ZOCALO_STAGE_GROUP,
@@ -47,7 +47,15 @@ from dodal.devices.zocalo.zocalo_results import (
 from event_model import RunStart
 from ophyd_async.fastcs.panda import HDFPanda
 
+from mx_bluesky.common.external_interaction.callbacks.xray_centre.ispyb_callback import (
+    ispyb_activation_wrapper,
+)
 from mx_bluesky.common.plans.do_fgs import kickoff_and_complete_gridscan
+from mx_bluesky.common.utils.exceptions import (
+    CrystalNotFoundException,
+    SampleException,
+)
+from mx_bluesky.common.utils.log import LOGGER
 from mx_bluesky.common.utils.tracing import TRACER
 from mx_bluesky.hyperion.device_setup_plans.read_hardware_for_setup import (
     read_hardware_during_collection,
@@ -66,17 +74,12 @@ from mx_bluesky.hyperion.device_setup_plans.setup_zebra import (
 from mx_bluesky.hyperion.device_setup_plans.xbpm_feedback import (
     transmission_and_xbpm_feedback_for_collection_decorator,
 )
-from mx_bluesky.hyperion.exceptions import CrystalNotFoundException, SampleException
 from mx_bluesky.hyperion.experiment_plans.change_aperture_then_move_plan import (
     change_aperture_then_move_to_xtal,
 )
 from mx_bluesky.hyperion.experiment_plans.common.xrc_result import XRayCentreResult
-from mx_bluesky.hyperion.external_interaction.callbacks.xray_centre.ispyb_callback import (
-    ispyb_activation_wrapper,
-)
-from mx_bluesky.hyperion.log import LOGGER
 from mx_bluesky.hyperion.parameters.constants import CONST
-from mx_bluesky.hyperion.parameters.gridscan import HyperionThreeDGridScan
+from mx_bluesky.hyperion.parameters.gridscan import HyperionSpecifiedThreeDGridScan
 from mx_bluesky.hyperion.utils.context import device_composite_from_context
 
 ZOCALO_MIN_TOTAL_COUNT_THRESHOLD = 3
@@ -91,7 +94,7 @@ class FlyScanXRayCentreComposite:
     """All devices which are directly or indirectly required by this plan"""
 
     aperture_scatterguard: ApertureScatterguard
-    attenuator: Attenuator
+    attenuator: BinaryFilterAttenuator
     backlight: Backlight
     dcm: DCM
     eiger: EigerDetector
@@ -109,11 +112,6 @@ class FlyScanXRayCentreComposite:
     robot: BartRobot
     sample_shutter: ZebraShutter
 
-    @property
-    def sample_motors(self) -> Smargon:
-        """Convenience alias with a more user-friendly name"""
-        return self.smargon
-
 
 class XRayCentreEventHandler(CallbackBase):
     def __init__(self):
@@ -135,7 +133,7 @@ def create_devices(context: BlueskyContext) -> FlyScanXRayCentreComposite:
 
 
 def flyscan_xray_centre_no_move(
-    composite: FlyScanXRayCentreComposite, parameters: HyperionThreeDGridScan
+    composite: FlyScanXRayCentreComposite, parameters: HyperionSpecifiedThreeDGridScan
 ) -> MsgGenerator:
     """Perform a flyscan and determine the centres of interest"""
     parameters.features.update_self_from_server()
@@ -149,7 +147,7 @@ def flyscan_xray_centre_no_move(
     @bpp.run_decorator(  # attach experiment metadata to the start document
         md={
             "subplan_name": CONST.PLAN.GRIDSCAN_OUTER,
-            "hyperion_parameters": parameters.model_dump_json(),
+            "mx_bluesky_parameters": parameters.model_dump_json(),
             "activate_callbacks": [
                 "GridscanNexusFileCallback",
             ],
@@ -163,7 +161,7 @@ def flyscan_xray_centre_no_move(
     )
     def run_gridscan_and_fetch_and_tidy(
         fgs_composite: FlyScanXRayCentreComposite,
-        params: HyperionThreeDGridScan,
+        params: HyperionSpecifiedThreeDGridScan,
         feature_controlled: _FeatureControlled,
     ) -> MsgGenerator:
         yield from run_gridscan_and_fetch_results(
@@ -177,7 +175,7 @@ def flyscan_xray_centre_no_move(
 
 def flyscan_xray_centre(
     composite: FlyScanXRayCentreComposite,
-    parameters: HyperionThreeDGridScan,
+    parameters: HyperionSpecifiedThreeDGridScan,
 ) -> MsgGenerator:
     """Create the plan to run the grid scan based on provided parameters.
 
@@ -185,7 +183,7 @@ def flyscan_xray_centre(
     at any point in it.
 
     Args:
-        parameters (ThreeDGridScan): The parameters to run the scan.
+        parameters (HyperionSpecifiedThreeDGridScan): The parameters to run the scan.
 
     Returns:
         Generator: The plan for the gridscan
@@ -201,9 +199,9 @@ def flyscan_xray_centre(
     yield from flyscan_and_fetch_results()
 
     xray_centre_results = xrc_event_handler.xray_centre_results
-    assert (
-        xray_centre_results
-    ), "Flyscan result event not received or no crystal found and exception not raised"
+    assert xray_centre_results, (
+        "Flyscan result event not received or no crystal found and exception not raised"
+    )
     yield from change_aperture_then_move_to_xtal(
         xray_centre_results[0],
         composite.smargon,
@@ -216,22 +214,13 @@ def flyscan_xray_centre(
 @bpp.run_decorator(md={"subplan_name": CONST.PLAN.GRIDSCAN_AND_MOVE})
 def run_gridscan_and_fetch_results(
     fgs_composite: FlyScanXRayCentreComposite,
-    parameters: HyperionThreeDGridScan,
+    parameters: HyperionSpecifiedThreeDGridScan,
     feature_controlled: _FeatureControlled,
 ) -> MsgGenerator:
     """A multi-run plan which runs a gridscan, gets the results from zocalo
     and fires an event with the centres of mass determined by zocalo"""
 
-    # We get the initial motor positions so we can return to them on zocalo failure
-    initial_xyz = np.array(
-        [
-            (yield from bps.rd(fgs_composite.sample_motors.x)),
-            (yield from bps.rd(fgs_composite.sample_motors.y)),
-            (yield from bps.rd(fgs_composite.sample_motors.z)),
-        ]
-    )
-
-    yield from feature_controlled.setup_trigger(fgs_composite, parameters, initial_xyz)
+    yield from feature_controlled.setup_trigger(fgs_composite, parameters)
 
     LOGGER.info("Starting grid scan")
     yield from bps.stage(
@@ -280,20 +269,26 @@ def run_gridscan_and_fetch_results(
 
 
 def _xrc_result_in_boxes_to_result_in_mm(
-    xrc_result: XrcResult, parameters: HyperionThreeDGridScan
+    xrc_result: XrcResult, parameters: HyperionSpecifiedThreeDGridScan
 ) -> XRayCentreResult:
     fgs_params = parameters.FGS_params
     xray_centre = fgs_params.grid_position_to_motor_position(
         np.array(xrc_result["centre_of_mass"])
     )
+    # A correction is applied to the bounding box to map discrete grid coordinates to
+    # the corners of the box in motor-space; we do not apply this correction
+    # to the xray-centre as it is already in continuous space and the conversion has
+    # been performed already
+    # In other words, xrc_result["bounding_box"] contains the position of the box centre,
+    # so we subtract half a box to get the corner of the box
     return XRayCentreResult(
         centre_of_mass_mm=xray_centre,
         bounding_box_mm=(
             fgs_params.grid_position_to_motor_position(
-                np.array(xrc_result["bounding_box"][0])
+                np.array(xrc_result["bounding_box"][0]) - 0.5
             ),
             fgs_params.grid_position_to_motor_position(
-                np.array(xrc_result["bounding_box"][1])
+                np.array(xrc_result["bounding_box"][1]) - 0.5
             ),
         ),
         max_count=xrc_result["max_count"],
@@ -316,17 +311,15 @@ def _fire_xray_centre_result_event(results: Sequence[XRayCentreResult]):
 @bpp.run_decorator(md={"subplan_name": CONST.PLAN.GRIDSCAN_MAIN})
 def run_gridscan(
     fgs_composite: FlyScanXRayCentreComposite,
-    parameters: HyperionThreeDGridScan,
+    parameters: HyperionSpecifiedThreeDGridScan,
     feature_controlled: _FeatureControlled,
     md={  # noqa
         "plan_name": CONST.PLAN.GRIDSCAN_MAIN,
     },
 ):
-    sample_motors = fgs_composite.sample_motors
-
     # Currently gridscan only works for omega 0, see #
     with TRACER.start_span("moving_omega_to_0"):
-        yield from bps.abs_set(sample_motors.omega, 0)
+        yield from bps.abs_set(fgs_composite.smargon.omega, 0)
 
     # We only subscribe to the communicator callback for run_gridscan, so this is where
     # we should generate an event reading the values which need to be included in the
@@ -398,8 +391,7 @@ class _FeatureControlled:
         def __call__(
             self,
             fgs_composite: FlyScanXRayCentreComposite,
-            parameters: HyperionThreeDGridScan,
-            initial_xyz: np.ndarray,
+            parameters: HyperionSpecifiedThreeDGridScan,
         ) -> MsgGenerator: ...
 
     setup_trigger: _ExtraSetup
@@ -410,7 +402,7 @@ class _FeatureControlled:
 
 def _get_feature_controlled(
     fgs_composite: FlyScanXRayCentreComposite,
-    parameters: HyperionThreeDGridScan,
+    parameters: HyperionSpecifiedThreeDGridScan,
 ):
     if parameters.features.use_panda_for_gridscan:
         return _FeatureControlled(
@@ -459,8 +451,7 @@ def _panda_tidy(fgs_composite: FlyScanXRayCentreComposite):
 
 def _zebra_triggering_setup(
     fgs_composite: FlyScanXRayCentreComposite,
-    parameters: HyperionThreeDGridScan,
-    initial_xyz: np.ndarray,
+    parameters: HyperionSpecifiedThreeDGridScan,
 ):
     yield from setup_zebra_for_gridscan(
         fgs_composite.zebra, fgs_composite.sample_shutter, wait=True
@@ -469,8 +460,7 @@ def _zebra_triggering_setup(
 
 def _panda_triggering_setup(
     fgs_composite: FlyScanXRayCentreComposite,
-    parameters: HyperionThreeDGridScan,
-    initial_xyz: np.ndarray,
+    parameters: HyperionSpecifiedThreeDGridScan,
 ):
     LOGGER.info("Setting up Panda for flyscan")
 
@@ -515,7 +505,7 @@ def _panda_triggering_setup(
     yield from setup_panda_for_flyscan(
         fgs_composite.panda,
         parameters.panda_FGS_params,
-        initial_xyz[0],
+        fgs_composite.smargon,
         parameters.exposure_time_s,
         time_between_x_steps_ms,
         sample_velocity_mm_per_s,

mx_bluesky/hyperion/experiment_plans/grid_detect_then_xray_centre_plan.py

@@ -9,13 +9,14 @@ from bluesky import preprocessors as bpp
 from bluesky.preprocessors import subs_decorator
 from bluesky.utils import MsgGenerator
 from dodal.devices.aperturescatterguard import ApertureScatterguard
-from dodal.devices.attenuator import Attenuator
+from dodal.devices.attenuator.attenuator import BinaryFilterAttenuator
 from dodal.devices.backlight import Backlight, BacklightPosition
 from dodal.devices.dcm import DCM
 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.i03.beamstop import Beamstop
 from dodal.devices.oav.oav_detector import OAV
 from dodal.devices.oav.oav_parameters import OAVParameters
 from dodal.devices.oav.pin_image_recognition import PinTipDetection
@@ -25,13 +26,20 @@ from dodal.devices.smargon import Smargon
 from dodal.devices.synchrotron import Synchrotron
 from dodal.devices.undulator import Undulator
 from dodal.devices.xbpm_feedback import XBPMFeedback
-from dodal.devices.zebra import Zebra
-from dodal.devices.zebra_controlled_shutter import ZebraShutter
+from dodal.devices.zebra.zebra import Zebra
+from dodal.devices.zebra.zebra_controlled_shutter import ZebraShutter
 from dodal.devices.zocalo import ZocaloResults
 from ophyd_async.fastcs.panda import HDFPanda
 
+from mx_bluesky.common.external_interaction.callbacks.common.grid_detection_callback import (
+    GridDetectionCallback,
+    GridParamUpdate,
+)
+from mx_bluesky.common.external_interaction.callbacks.xray_centre.ispyb_callback import (
+    ispyb_activation_wrapper,
+)
 from mx_bluesky.common.parameters.constants import OavConstants
-from mx_bluesky.common.parameters.gridscan import GridScanWithEdgeDetect
+from mx_bluesky.common.utils.log import LOGGER
 from mx_bluesky.hyperion.device_setup_plans.manipulate_sample import (
     move_aperture_if_required,
 )
@@ -52,17 +60,10 @@ from mx_bluesky.hyperion.experiment_plans.oav_grid_detection_plan import (
     OavGridDetectionComposite,
     grid_detection_plan,
 )
-from mx_bluesky.hyperion.external_interaction.callbacks.grid_detection_callback import (
-    GridDetectionCallback,
-    GridParamUpdate,
-)
-from mx_bluesky.hyperion.external_interaction.callbacks.xray_centre.ispyb_callback import (
-    ispyb_activation_wrapper,
-)
-from mx_bluesky.hyperion.log import LOGGER
 from mx_bluesky.hyperion.parameters.constants import CONST
 from mx_bluesky.hyperion.parameters.gridscan import (
-    HyperionThreeDGridScan,
+    GridScanWithEdgeDetect,
+    HyperionSpecifiedThreeDGridScan,
 )
 from mx_bluesky.hyperion.utils.context import device_composite_from_context
 
@@ -72,8 +73,9 @@ class GridDetectThenXRayCentreComposite:
     """All devices which are directly or indirectly required by this plan"""
 
     aperture_scatterguard: ApertureScatterguard
-    attenuator: Attenuator
+    attenuator: BinaryFilterAttenuator
     backlight: Backlight
+    beamstop: Beamstop
     dcm: DCM
     detector_motion: DetectorMotion
     eiger: EigerDetector
@@ -93,10 +95,6 @@ class GridDetectThenXRayCentreComposite:
     robot: BartRobot
     sample_shutter: ZebraShutter
 
-    @property
-    def sample_motors(self):
-        return self.smargon
-
 
 def create_devices(context: BlueskyContext) -> GridDetectThenXRayCentreComposite:
     return device_composite_from_context(context, GridDetectThenXRayCentreComposite)
@@ -105,10 +103,10 @@ def create_devices(context: BlueskyContext) -> GridDetectThenXRayCentreComposite
 def create_parameters_for_flyscan_xray_centre(
     grid_scan_with_edge_params: GridScanWithEdgeDetect,
     grid_parameters: GridParamUpdate,
-) -> HyperionThreeDGridScan:
+) -> HyperionSpecifiedThreeDGridScan:
     params_json = grid_scan_with_edge_params.model_dump()
     params_json.update(grid_parameters)
-    flyscan_xray_centre_parameters = HyperionThreeDGridScan(**params_json)
+    flyscan_xray_centre_parameters = HyperionSpecifiedThreeDGridScan(**params_json)
     LOGGER.info(f"Parameters for FGS: {flyscan_xray_centre_parameters}")
     return flyscan_xray_centre_parameters
 
@@ -217,6 +215,7 @@ def grid_detect_then_xray_centre(
         )
 
     yield from start_preparing_data_collection_then_do_plan(
+        composite.beamstop,
         eiger,
         composite.detector_motion,
         parameters.detector_params.detector_distance,
@@ -224,9 +223,9 @@ def grid_detect_then_xray_centre(
         group=CONST.WAIT.GRID_READY_FOR_DC,
     )
 
-    assert (
-        flyscan_event_handler.xray_centre_results
-    ), "Flyscan result event not received or no crystal found and exception not raised"
+    assert flyscan_event_handler.xray_centre_results, (
+        "Flyscan result event not received or no crystal found and exception not raised"
+    )
 
     yield from change_aperture_then_move_to_xtal(
         flyscan_event_handler.xray_centre_results[0],

mx_bluesky/hyperion/experiment_plans/load_centre_collect_full_plan.py

@@ -7,9 +7,9 @@ from blueapi.core import BlueskyContext
 from bluesky.preprocessors import run_decorator, set_run_key_decorator, subs_wrapper
 from bluesky.utils import MsgGenerator
 from dodal.devices.oav.oav_parameters import OAVParameters
-from dodal.devices.smargon import Smargon
 
 import mx_bluesky.hyperion.experiment_plans.common.xrc_result as flyscan_result
+from mx_bluesky.common.utils.log import LOGGER
 from mx_bluesky.hyperion.experiment_plans.flyscan_xray_centre_plan import (
     XRayCentreEventHandler,
 )
@@ -22,10 +22,6 @@ from mx_bluesky.hyperion.experiment_plans.rotation_scan_plan import (
     RotationScanComposite,
     multi_rotation_scan,
 )
-from mx_bluesky.hyperion.external_interaction.callbacks.sample_handling.sample_handling_callback import (
-    sample_handling_callback_decorator,
-)
-from mx_bluesky.hyperion.log import LOGGER
 from mx_bluesky.hyperion.parameters.constants import CONST
 from mx_bluesky.hyperion.parameters.load_centre_collect import LoadCentreCollect
 from mx_bluesky.hyperion.utils.context import device_composite_from_context
@@ -35,10 +31,6 @@ from mx_bluesky.hyperion.utils.context import device_composite_from_context
 class LoadCentreCollectComposite(RobotLoadThenCentreComposite, RotationScanComposite):
     """Composite that provides access to the required devices."""
 
-    @property
-    def sample_motors(self) -> Smargon:
-        return self.smargon
-
 
 def create_devices(context: BlueskyContext) -> LoadCentreCollectComposite:
     """Create the necessary devices for the plan."""
@@ -67,7 +59,6 @@ def load_centre_collect_full(
             "activate_callbacks": ["SampleHandlingCallback"],
         }
     )
-    @sample_handling_callback_decorator()
     def plan_with_callback_subs():
         flyscan_event_handler = XRayCentreEventHandler()
         yield from subs_wrapper(
@@ -75,7 +66,9 @@ def load_centre_collect_full(
             flyscan_event_handler,
         )
 
-        assert flyscan_event_handler.xray_centre_results, "Flyscan result event not received or no crystal found and exception not raised"
+        assert flyscan_event_handler.xray_centre_results, (
+            "Flyscan result event not received or no crystal found and exception not raised"
+        )
 
         selection_func = flyscan_result.resolve_selection_fn(
             parameters.selection_params

mx_bluesky/hyperion/experiment_plans/oav_grid_detection_plan.py

@@ -14,11 +14,11 @@ from dodal.devices.oav.pin_image_recognition.utils import NONE_VALUE
 from dodal.devices.oav.utils import PinNotFoundException, wait_for_tip_to_be_found
 from dodal.devices.smargon import Smargon
 
+from mx_bluesky.common.utils.exceptions import catch_exception_and_warn
+from mx_bluesky.common.utils.log import LOGGER
 from mx_bluesky.hyperion.device_setup_plans.setup_oav import (
     pre_centring_setup_oav,
 )
-from mx_bluesky.hyperion.exceptions import catch_exception_and_warn
-from mx_bluesky.hyperion.log import LOGGER
 from mx_bluesky.hyperion.parameters.constants import CONST
 from mx_bluesky.hyperion.utils.context import device_composite_from_context
 
@@ -139,7 +139,7 @@ def grid_detection_plan(
         # See https://github.com/DiamondLightSource/hyperion/wiki/PandA-constant%E2%80%90motion-scanning#motion-program-summary
         if y_steps % 2 and angle == 0:
             LOGGER.debug(
-                f"Forcing number of rows in first grid to be even: Adding an extra row onto bottom of first grid and shifting grid upwards by {box_size_y_pixels/2}"
+                f"Forcing number of rows in first grid to be even: Adding an extra row onto bottom of first grid and shifting grid upwards by {box_size_y_pixels / 2}"
             )
             y_steps += 1
             min_y -= box_size_y_pixels / 2

mx_bluesky/hyperion/experiment_plans/optimise_attenuation_plan.py

@@ -5,11 +5,11 @@ import bluesky.preprocessors as bpp
 import numpy as np
 import pydantic
 from blueapi.core import BlueskyContext
-from dodal.devices.attenuator import Attenuator
+from dodal.devices.attenuator.attenuator import BinaryFilterAttenuator
 from dodal.devices.xspress3.xspress3 import Xspress3
-from dodal.devices.zebra_controlled_shutter import ZebraShutter, ZebraShutterState
+from dodal.devices.zebra.zebra_controlled_shutter import ZebraShutter, ZebraShutterState
 
-from mx_bluesky.hyperion.log import LOGGER
+from mx_bluesky.common.utils.log import LOGGER
 from mx_bluesky.hyperion.utils.context import device_composite_from_context
 
 
@@ -26,7 +26,7 @@ class Direction(Enum):
 class OptimizeAttenuationComposite:
     """All devices which are directly or indirectly required by this plan"""
 
-    attenuator: Attenuator
+    attenuator: BinaryFilterAttenuator
     sample_shutter: ZebraShutter
     xspress3mini: Xspress3
 
@@ -197,11 +197,7 @@ def deadtime_optimisation(
     cycles to complete.
 
     Args:
-        attenuator: (Attenuator) Ophyd device
-
-        xspress3mini: (Xspress3Mini) Ophyd device
-
-        sample_shutter: (ZebraShutter) Ophyd_async device for the fast shutter
+        composite: (OptimizeAttenuationComposite) Devices required to optimise attenuation
 
         transmission: (float)
         The initial transmission value to use for the optimising
@@ -302,11 +298,7 @@ def total_counts_optimisation(
     defined by the lower and upper limit. To protect the sample, the transmission has a maximum value of 10%.
 
     Args:
-        attenuator: (Attenuator) Ophyd device
-
-        xspress3mini: (Xspress3Mini) Ophyd device
-
-        sample_shutter: (ZebraShutter) Ophyd_async device for the fast shutter
+        composite: (OptimizeAttenuationComposite) Devices required to optimise attenuation
 
         transmission: (float)
         The initial transmission value to use for the optimising

mx_bluesky/hyperion/experiment_plans/pin_centre_then_xray_centre_plan.py

@@ -8,11 +8,11 @@ from bluesky.utils import MsgGenerator
 from dodal.devices.eiger import EigerDetector
 from dodal.devices.oav.oav_parameters import OAVParameters
 
-from mx_bluesky.common.parameters.constants import OavConstants
-from mx_bluesky.common.parameters.gridscan import (
-    GridScanWithEdgeDetect,
-    PinTipCentreThenXrayCentre,
+from mx_bluesky.common.external_interaction.callbacks.xray_centre.ispyb_callback import (
+    ispyb_activation_wrapper,
 )
+from mx_bluesky.common.parameters.constants import OavConstants
+from mx_bluesky.common.utils.log import LOGGER
 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,
@@ -34,11 +34,11 @@ from mx_bluesky.hyperion.experiment_plans.pin_tip_centring_plan import (
     PinTipCentringComposite,
     pin_tip_centre_plan,
 )
-from mx_bluesky.hyperion.external_interaction.callbacks.xray_centre.ispyb_callback import (
-    ispyb_activation_wrapper,
-)
-from mx_bluesky.hyperion.log import LOGGER
 from mx_bluesky.hyperion.parameters.constants import CONST
+from mx_bluesky.hyperion.parameters.gridscan import (
+    GridScanWithEdgeDetect,
+    PinTipCentreThenXrayCentre,
+)
 from mx_bluesky.hyperion.utils.context import device_composite_from_context
 
 
@@ -121,6 +121,7 @@ def pin_tip_centre_then_xray_centre(
     @bpp.subs_decorator(flyscan_event_handler)
     def pin_centre_flyscan_then_fetch_results() -> MsgGenerator:
         yield from start_preparing_data_collection_then_do_plan(
+            composite.beamstop,
             eiger,
             composite.detector_motion,
             parameters.detector_params.detector_distance,
@@ -130,9 +131,9 @@ def pin_tip_centre_then_xray_centre(
 
     yield from pin_centre_flyscan_then_fetch_results()
     flyscan_results = flyscan_event_handler.xray_centre_results
-    assert (
-        flyscan_results
-    ), "Flyscan result event not received or no crystal found and exception not raised"
+    assert flyscan_results, (
+        "Flyscan result event not received or no crystal found and exception not raised"
+    )
     yield from change_aperture_then_move_to_xtal(
         flyscan_results[0], composite.smargon, composite.aperture_scatterguard
     )

mx_bluesky/hyperion/experiment_plans/pin_tip_centring_plan.py

@@ -15,12 +15,12 @@ from dodal.devices.oav.utils import (
 )
 from dodal.devices.smargon import Smargon
 
+from mx_bluesky.common.utils.exceptions import SampleException
+from mx_bluesky.common.utils.log import LOGGER
 from mx_bluesky.hyperion.device_setup_plans.setup_oav import pre_centring_setup_oav
 from mx_bluesky.hyperion.device_setup_plans.smargon import (
     move_smargon_warn_on_out_of_range,
 )
-from mx_bluesky.hyperion.exceptions import SampleException
-from mx_bluesky.hyperion.log import LOGGER
 from mx_bluesky.hyperion.parameters.constants import CONST
 from mx_bluesky.hyperion.utils.context import device_composite_from_context
 

mx_bluesky/hyperion/experiment_plans/robot_load_and_change_energy.py

@@ -11,7 +11,7 @@ import pydantic
 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.attenuator.attenuator import BinaryFilterAttenuator
 from dodal.devices.dcm import DCM
 from dodal.devices.focusing_mirror import FocusingMirrorWithStripes, MirrorVoltages
 from dodal.devices.motors import XYZPositioner
@@ -24,13 +24,13 @@ from dodal.devices.webcam import Webcam
 from dodal.devices.xbpm_feedback import XBPMFeedback
 from dodal.plan_stubs.motor_utils import MoveTooLarge, home_and_reset_wrapper
 
-from mx_bluesky.common.parameters.robot_load import RobotLoadAndEnergyChange
+from mx_bluesky.common.utils.log import LOGGER
 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
 
 
 @pydantic.dataclasses.dataclass(config={"arbitrary_types_allowed": True})
@@ -41,7 +41,7 @@ class RobotLoadAndEnergyChangeComposite:
     dcm: DCM
     undulator_dcm: UndulatorDCM
     xbpm_feedback: XBPMFeedback
-    attenuator: Attenuator
+    attenuator: BinaryFilterAttenuator
 
     # RobotLoad fields
     robot: BartRobot
@@ -122,6 +122,11 @@ def do_robot_load(
     demand_energy_ev: float | None,
     thawing_time: float,
 ):
+    error_code = yield from bps.rd(composite.robot.error_code)
+    # Reset robot if light curtains were tripped
+    if error_code == 40:
+        yield from bps.trigger(composite.robot.reset, wait=True)
+
     yield from bps.abs_set(
         composite.robot,
         sample_location,