mx-bluesky 1.4.8__py3-none-any.whl → 1.5.0__py3-none-any.whl

mx_bluesky/hyperion/device_setup_plans/utils.py

@@ -1,59 +1,12 @@
-from collections.abc import Generator
-
 from bluesky import plan_stubs as bps
-from bluesky import preprocessors as bpp
-from bluesky.utils import Msg
 from dodal.devices.detector import (
     DetectorParams,
 )
-from dodal.devices.detector.detector_motion import DetectorMotion, ShutterState
-from dodal.devices.eiger import EigerDetector
-from dodal.devices.i03 import Beamstop
 from dodal.devices.i03.dcm import DCM
 
-from mx_bluesky.common.device_setup_plans.check_beamstop import check_beamstop
-from mx_bluesky.common.device_setup_plans.position_detector import (
-    set_detector_z_position,
-    set_shutter,
-)
-
 
 def fill_in_energy_if_not_supplied(dcm: DCM, detector_params: DetectorParams):
     if not detector_params.expected_energy_ev:
         actual_energy_ev = 1000 * (yield from bps.rd(dcm.energy_in_kev))
         detector_params.expected_energy_ev = actual_energy_ev
     return detector_params
-
-
-def start_preparing_data_collection_then_do_plan(
-    beamstop: Beamstop,
-    eiger: EigerDetector,
-    detector_motion: DetectorMotion,
-    detector_distance_mm: float | None,
-    plan_to_run: Generator[Msg, None, None],
-    group="ready_for_data_collection",
-) -> Generator[Msg, None, None]:
-    """Starts preparing for the next data collection and then runs the
-    given plan.
-
-     Preparation consists of:
-     * Arming the Eiger
-     * Moving the detector to the specified position
-     * Opening the detect shutter
-     If the plan fails it will disarm the eiger.
-    """
-
-    def wrapped_plan():
-        yield from bps.abs_set(eiger.do_arm, 1, group=group)  # type: ignore # Fix types in ophyd-async (https://github.com/DiamondLightSource/mx-bluesky/issues/855)
-        if detector_distance_mm:
-            yield from set_detector_z_position(
-                detector_motion, detector_distance_mm, group
-            )
-        yield from set_shutter(detector_motion, ShutterState.OPEN, group)
-        yield from plan_to_run
-
-    yield from check_beamstop(beamstop)
-    yield from bpp.contingency_wrapper(
-        wrapped_plan(),
-        except_plan=lambda e: (yield from bps.stop(eiger)),  # type: ignore # Fix types in ophyd-async (https://github.com/DiamondLightSource/mx-bluesky/issues/855)
-    )

mx_bluesky/hyperion/experiment_plans/__init__.py

@@ -3,8 +3,8 @@
 The __all__ list in here are the plans that are externally available from outside Hyperion.
 """
 
-from mx_bluesky.hyperion.experiment_plans.grid_detect_then_xray_centre_plan import (
-    grid_detect_then_xray_centre,
+from mx_bluesky.hyperion.experiment_plans.hyperion_grid_detect_then_xray_centre_plan import (
+    hyperion_grid_detect_then_xray_centre,
 )
 from mx_bluesky.hyperion.experiment_plans.load_centre_collect_full_plan import (
     load_centre_collect_full,
@@ -13,12 +13,12 @@ from mx_bluesky.hyperion.experiment_plans.pin_centre_then_xray_centre_plan impor
     pin_tip_centre_then_xray_centre,
 )
 from mx_bluesky.hyperion.experiment_plans.rotation_scan_plan import (
-    multi_rotation_scan,
+    rotation_scan,
 )
 
 __all__ = [
-    "grid_detect_then_xray_centre",
+    "hyperion_grid_detect_then_xray_centre",
     "pin_tip_centre_then_xray_centre",
-    "multi_rotation_scan",
+    "rotation_scan",
     "load_centre_collect_full",
 ]

mx_bluesky/hyperion/experiment_plans/experiment_registry.py

@@ -5,7 +5,7 @@ from typing import TypedDict
 
 import mx_bluesky.hyperion.experiment_plans.rotation_scan_plan as rotation_scan_plan
 from mx_bluesky.hyperion.experiment_plans import (
-    grid_detect_then_xray_centre_plan,
+    hyperion_grid_detect_then_xray_centre_plan,
     load_centre_collect_full_plan,
     pin_centre_then_xray_centre_plan,
 )
@@ -15,7 +15,7 @@ from mx_bluesky.hyperion.parameters.gridscan import (
     PinTipCentreThenXrayCentre,
 )
 from mx_bluesky.hyperion.parameters.load_centre_collect import LoadCentreCollect
-from mx_bluesky.hyperion.parameters.rotation import MultiRotationScan, RotationScan
+from mx_bluesky.hyperion.parameters.rotation import RotationScan
 
 
 def not_implemented():
@@ -32,24 +32,23 @@ class ExperimentRegistryEntry(TypedDict):
         HyperionSpecifiedThreeDGridScan
         | GridScanWithEdgeDetect
         | RotationScan
-        | MultiRotationScan
         | PinTipCentreThenXrayCentre
         | LoadCentreCollect
     ]
 
 
 PLAN_REGISTRY: dict[str, ExperimentRegistryEntry] = {
-    "grid_detect_then_xray_centre": {
-        "setup": grid_detect_then_xray_centre_plan.create_devices,
+    "hyperion_grid_detect_then_xray_centre": {
+        "setup": hyperion_grid_detect_then_xray_centre_plan.create_devices,
         "param_type": GridScanWithEdgeDetect,
     },
     "pin_tip_centre_then_xray_centre": {
         "setup": pin_centre_then_xray_centre_plan.create_devices,
         "param_type": PinTipCentreThenXrayCentre,
     },
-    "multi_rotation_scan": {
+    "rotation_scan": {
         "setup": rotation_scan_plan.create_devices,
-        "param_type": MultiRotationScan,
+        "param_type": RotationScan,
     },
     "load_centre_collect_full": {
         "setup": load_centre_collect_full_plan.create_devices,

mx_bluesky/hyperion/experiment_plans/hyperion_flyscan_xray_centre_plan.py

@@ -9,7 +9,7 @@ from dodal.devices.fast_grid_scan import (
     set_fast_grid_scan_params,
 )
 
-from mx_bluesky.common.plans.common_flyscan_xray_centre_plan import (
+from mx_bluesky.common.experiment_plans.common_flyscan_xray_centre_plan import (
     construct_beamline_specific_FGS_features,
 )
 from mx_bluesky.common.utils.log import LOGGER
@@ -34,51 +34,50 @@ class SmargonSpeedException(Exception):
 
 
 def construct_hyperion_specific_features(
-    fgs_composite: HyperionFlyScanXRayCentreComposite,
-    parameters: HyperionSpecifiedThreeDGridScan,
+    xrc_composite: HyperionFlyScanXRayCentreComposite,
+    xrc_parameters: HyperionSpecifiedThreeDGridScan,
 ):
     """
     Get all the information needed to do the Hyperion-specific parts of the XRC flyscan.
     """
-
     signals_to_read_pre_flyscan = [
-        fgs_composite.undulator.current_gap,
-        fgs_composite.synchrotron.synchrotron_mode,
-        fgs_composite.s4_slit_gaps.xgap,
-        fgs_composite.s4_slit_gaps.ygap,
-        fgs_composite.smargon.x,
-        fgs_composite.smargon.y,
-        fgs_composite.smargon.z,
-        fgs_composite.dcm.energy_in_kev,
+        xrc_composite.undulator.current_gap,
+        xrc_composite.synchrotron.synchrotron_mode,
+        xrc_composite.s4_slit_gaps.xgap,
+        xrc_composite.s4_slit_gaps.ygap,
+        xrc_composite.smargon.x,
+        xrc_composite.smargon.y,
+        xrc_composite.smargon.z,
+        xrc_composite.dcm.energy_in_kev,
     ]
 
     signals_to_read_during_collection = [
-        fgs_composite.aperture_scatterguard,
-        fgs_composite.attenuator.actual_transmission,
-        fgs_composite.flux.flux_reading,
-        fgs_composite.dcm.energy_in_kev,
-        fgs_composite.eiger.bit_depth,
+        xrc_composite.aperture_scatterguard,
+        xrc_composite.attenuator.actual_transmission,
+        xrc_composite.flux.flux_reading,
+        xrc_composite.dcm.energy_in_kev,
+        xrc_composite.eiger.bit_depth,
     ]
 
-    if parameters.features.use_panda_for_gridscan:
+    if xrc_parameters.features.use_panda_for_gridscan:
         setup_trigger_plan = _panda_triggering_setup
         tidy_plan = _panda_tidy
         set_flyscan_params_plan = partial(
             set_fast_grid_scan_params,
-            fgs_composite.panda_fast_grid_scan,
-            parameters.panda_FGS_params,
+            xrc_composite.panda_fast_grid_scan,
+            xrc_parameters.panda_FGS_params,
         )
-        fgs_motors = fgs_composite.panda_fast_grid_scan
+        fgs_motors = xrc_composite.panda_fast_grid_scan
 
     else:
         setup_trigger_plan = _zebra_triggering_setup
         tidy_plan = partial(_generic_tidy, group="flyscan_zebra_tidy", wait=True)
         set_flyscan_params_plan = partial(
             set_fast_grid_scan_params,
-            fgs_composite.zebra_fast_grid_scan,
-            parameters.FGS_params,
+            xrc_composite.zebra_fast_grid_scan,
+            xrc_parameters.FGS_params,
         )
-        fgs_motors = fgs_composite.zebra_fast_grid_scan
+        fgs_motors = xrc_composite.zebra_fast_grid_scan
     return construct_beamline_specific_FGS_features(
         setup_trigger_plan,
         tidy_plan,
@@ -91,47 +90,47 @@ def construct_hyperion_specific_features(
 
 
 def _generic_tidy(
-    fgs_composite: HyperionFlyScanXRayCentreComposite, group, wait=True
+    xrc_composite: HyperionFlyScanXRayCentreComposite, group, wait=True
 ) -> MsgGenerator:
     LOGGER.info("Tidying up Zebra")
     yield from tidy_up_zebra_after_gridscan(
-        fgs_composite.zebra, fgs_composite.sample_shutter, group=group, wait=wait
+        xrc_composite.zebra, xrc_composite.sample_shutter, group=group, wait=wait
     )
     LOGGER.info("Tidying up Zocalo")
     # make sure we don't consume any other results
-    yield from bps.unstage(fgs_composite.zocalo, group=group, wait=wait)
+    yield from bps.unstage(xrc_composite.zocalo, group=group, wait=wait)
 
     # 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)  # type: ignore # Fix types in ophyd-async (https://github.com/DiamondLightSource/mx-bluesky/issues/855)
+    yield from bps.abs_set(xrc_composite.eiger.odin.fan.dev_shm_enable, 0)  # type: ignore # Fix types in ophyd-async (https://github.com/DiamondLightSource/mx-bluesky/issues/855)
 
 
-def _panda_tidy(fgs_composite: HyperionFlyScanXRayCentreComposite):
+def _panda_tidy(xrc_composite: HyperionFlyScanXRayCentreComposite):
     group = "panda_flyscan_tidy"
     LOGGER.info("Disabling panda blocks")
-    yield from disarm_panda_for_gridscan(fgs_composite.panda, group)
-    yield from _generic_tidy(fgs_composite, group, False)
+    yield from disarm_panda_for_gridscan(xrc_composite.panda, group)
+    yield from _generic_tidy(xrc_composite, group, False)
     yield from bps.wait(group, timeout=10)
-    yield from bps.unstage(fgs_composite.panda)
+    yield from bps.unstage(xrc_composite.panda)
 
 
 def _zebra_triggering_setup(
-    fgs_composite: HyperionFlyScanXRayCentreComposite,
+    xrc_composite: HyperionFlyScanXRayCentreComposite,
     parameters: HyperionSpecifiedThreeDGridScan,
 ) -> MsgGenerator:
     yield from setup_zebra_for_gridscan(
-        fgs_composite.zebra, fgs_composite.sample_shutter, wait=True
+        xrc_composite.zebra, xrc_composite.sample_shutter, wait=True
     )
 
 
 def _panda_triggering_setup(
-    fgs_composite: HyperionFlyScanXRayCentreComposite,
+    xrc_composite: HyperionFlyScanXRayCentreComposite,
     parameters: HyperionSpecifiedThreeDGridScan,
 ) -> MsgGenerator:
     LOGGER.info("Setting up Panda for flyscan")
 
     run_up_distance_mm = yield from bps.rd(
-        fgs_composite.panda_fast_grid_scan.run_up_distance_mm
+        xrc_composite.panda_fast_grid_scan.run_up_distance_mm
     )
 
     # Set the time between x steps pv
@@ -140,7 +139,7 @@ def _panda_triggering_setup(
     time_between_x_steps_ms = (DEADTIME_S + parameters.exposure_time_s) * 1e3
 
     smargon_speed_limit_mm_per_s = yield from bps.rd(
-        fgs_composite.smargon.x.max_velocity
+        xrc_composite.smargon.x.max_velocity
     )
 
     sample_velocity_mm_per_s = (
@@ -161,7 +160,7 @@ def _panda_triggering_setup(
         )
 
     yield from bps.mv(
-        fgs_composite.panda_fast_grid_scan.time_between_x_steps_ms,  # type: ignore # See: https://github.com/bluesky/bluesky/issues/1809
+        xrc_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
     )
 
@@ -169,9 +168,9 @@ def _panda_triggering_setup(
     yield from set_panda_directory(directory_provider_root)
 
     yield from setup_panda_for_flyscan(
-        fgs_composite.panda,
+        xrc_composite.panda,
         parameters.panda_FGS_params,
-        fgs_composite.smargon,
+        xrc_composite.smargon,
         parameters.exposure_time_s,
         time_between_x_steps_ms,
         sample_velocity_mm_per_s,
@@ -179,5 +178,5 @@ def _panda_triggering_setup(
 
     LOGGER.info("Setting up Zebra for panda flyscan")
     yield from setup_zebra_for_panda_flyscan(
-        fgs_composite.zebra, fgs_composite.sample_shutter, wait=True
+        xrc_composite.zebra, xrc_composite.sample_shutter, wait=True
     )

mx_bluesky/hyperion/experiment_plans/hyperion_grid_detect_then_xray_centre_plan.py

@@ -0,0 +1,60 @@
+from __future__ import annotations
+
+from blueapi.core import BlueskyContext
+from bluesky.utils import MsgGenerator
+from dodal.plans.preprocessors.verify_undulator_gap import (
+    verify_undulator_gap_before_run_decorator,
+)
+
+from mx_bluesky.common.experiment_plans.common_grid_detect_then_xray_centre_plan import (
+    grid_detect_then_xray_centre,
+)
+from mx_bluesky.common.parameters.constants import OavConstants, PlanNameConstants
+from mx_bluesky.common.preprocessors.preprocessors import (
+    transmission_and_xbpm_feedback_for_collection_decorator,
+)
+from mx_bluesky.common.utils.context import device_composite_from_context
+from mx_bluesky.hyperion.experiment_plans.hyperion_flyscan_xray_centre_plan import (
+    construct_hyperion_specific_features,
+)
+from mx_bluesky.hyperion.parameters.device_composites import (
+    HyperionGridDetectThenXRayCentreComposite,
+)
+from mx_bluesky.hyperion.parameters.gridscan import (
+    GridScanWithEdgeDetect,
+    HyperionSpecifiedThreeDGridScan,
+)
+
+
+def create_devices(
+    context: BlueskyContext,
+) -> HyperionGridDetectThenXRayCentreComposite:
+    return device_composite_from_context(
+        context, HyperionGridDetectThenXRayCentreComposite
+    )
+
+
+def hyperion_grid_detect_then_xray_centre(
+    composite: HyperionGridDetectThenXRayCentreComposite,
+    parameters: GridScanWithEdgeDetect,
+    oav_config: str = OavConstants.OAV_CONFIG_JSON,
+) -> MsgGenerator:
+    """
+    A plan which combines the collection of snapshots from the OAV and the determination
+    of the grid dimensions to use for the following grid scan.
+    """
+
+    @verify_undulator_gap_before_run_decorator(composite)
+    @transmission_and_xbpm_feedback_for_collection_decorator(
+        composite, parameters.transmission_frac, PlanNameConstants.GRIDSCAN_OUTER
+    )
+    def plan_to_perform():
+        yield from grid_detect_then_xray_centre(
+            composite=composite,
+            parameters=parameters,
+            xrc_params_type=HyperionSpecifiedThreeDGridScan,
+            construct_beamline_specific=construct_hyperion_specific_features,
+            oav_config=oav_config,
+        )
+
+    yield from plan_to_perform()

mx_bluesky/hyperion/experiment_plans/load_centre_collect_full_plan.py

@@ -1,5 +1,7 @@
 from __future__ import annotations
 
+from collections.abc import Generator
+
 import bluesky.plan_stubs as bps
 import numpy as np
 import pydantic
@@ -18,12 +20,13 @@ from mx_bluesky.hyperion.experiment_plans.robot_load_then_centre_plan import (
     robot_load_then_xray_centre,
 )
 from mx_bluesky.hyperion.experiment_plans.rotation_scan_plan import (
-    MultiRotationScan,
+    RotationScan,
     RotationScanComposite,
-    multi_rotation_scan_internal,
+    rotation_scan_internal,
 )
 from mx_bluesky.hyperion.parameters.constants import CONST
 from mx_bluesky.hyperion.parameters.load_centre_collect import LoadCentreCollect
+from mx_bluesky.hyperion.parameters.rotation import RotationScanPerSweep
 
 
 @pydantic.dataclasses.dataclass(config={"arbitrary_types_allowed": True})
@@ -48,6 +51,8 @@ def load_centre_collect_full(
     * If X-ray centring finds a diffracting centre then move to that centre and
     * do a collection with the specified parameters.
     """
+    parameters.features.update_self_from_server()
+
     if not oav_params:
         oav_params = OAVParameters(context="xrayCentring")
     oav_config_file = oav_params.oav_config_json
@@ -99,21 +104,46 @@ def load_centre_collect_full(
 
         multi_rotation.rotation_scans.clear()
 
+        is_alternating = parameters.features.alternate_rotation_direction
+
+        generator = rotation_scan_generator(is_alternating)
+        next(generator)
         for location in locations_to_collect_um:
             for rot in rotation_template:
-                combination = rot.model_copy()
-                (
-                    combination.x_start_um,
-                    combination.y_start_um,
-                    combination.z_start_um,
-                ) = location
+                combination = generator.send((rot, location))
                 multi_rotation.rotation_scans.append(combination)
-        multi_rotation = MultiRotationScan.model_validate(multi_rotation)
+        multi_rotation = RotationScan.model_validate(multi_rotation)
 
         assert (
             multi_rotation.demand_energy_ev
             == parameters.robot_load_then_centre.demand_energy_ev
         ), "Setting a different energy for gridscan and rotation is not supported"
-        yield from multi_rotation_scan_internal(composite, multi_rotation, oav_params)
+        yield from rotation_scan_internal(composite, multi_rotation, oav_params)
 
     yield from plan_with_callback_subs()
+
+
+def rotation_scan_generator(
+    is_alternating: bool,
+) -> Generator[RotationScanPerSweep, tuple[RotationScanPerSweep, np.ndarray], None]:
+    scan_template, location = yield  # type: ignore
+    next_rotation_direction = scan_template.rotation_direction
+    while True:
+        scan = scan_template.model_copy()
+        (
+            scan.x_start_um,
+            scan.y_start_um,
+            scan.z_start_um,
+        ) = location
+        if is_alternating:
+            if next_rotation_direction != scan.rotation_direction:
+                # If originally specified direction of the current scan is different
+                # from that required, swap the start and ends.
+                start = scan.omega_start_deg
+                rotation_sign = scan.rotation_direction.multiplier
+                end = start + rotation_sign * scan.scan_width_deg
+                scan.omega_start_deg = end
+                scan.rotation_direction = next_rotation_direction
+            next_rotation_direction = next_rotation_direction.opposite
+
+        scan_template, location = yield scan

mx_bluesky/hyperion/experiment_plans/pin_centre_then_xray_centre_plan.py

@@ -9,9 +9,18 @@ from dodal.devices.eiger import EigerDetector
 from dodal.devices.oav.oav_parameters import OAVParameters
 
 from mx_bluesky.common.device_setup_plans.manipulate_sample import move_phi_chi_omega
+from mx_bluesky.common.device_setup_plans.utils import (
+    start_preparing_data_collection_then_do_plan,
+)
 from mx_bluesky.common.experiment_plans.change_aperture_then_move_plan import (
     change_aperture_then_move_to_xtal,
 )
+from mx_bluesky.common.experiment_plans.common_grid_detect_then_xray_centre_plan import (
+    detect_grid_and_do_gridscan,
+)
+from mx_bluesky.common.experiment_plans.oav_snapshot_plan import (
+    setup_beamline_for_OAV,
+)
 from mx_bluesky.common.external_interaction.callbacks.xray_centre.ispyb_callback import (
     ispyb_activation_wrapper,
 )
@@ -19,32 +28,33 @@ from mx_bluesky.common.parameters.constants import OavConstants
 from mx_bluesky.common.utils.context import device_composite_from_context
 from mx_bluesky.common.utils.log import LOGGER
 from mx_bluesky.common.xrc_result import XRayCentreEventHandler
-from mx_bluesky.hyperion.device_setup_plans.utils import (
-    start_preparing_data_collection_then_do_plan,
-)
-from mx_bluesky.hyperion.experiment_plans.grid_detect_then_xray_centre_plan import (
-    GridDetectThenXRayCentreComposite,
-    detect_grid_and_do_gridscan,
-)
-from mx_bluesky.hyperion.experiment_plans.oav_snapshot_plan import (
-    setup_beamline_for_OAV,
+from mx_bluesky.hyperion.experiment_plans.hyperion_flyscan_xray_centre_plan import (
+    construct_hyperion_specific_features,
 )
 from mx_bluesky.hyperion.experiment_plans.pin_tip_centring_plan import (
     PinTipCentringComposite,
     pin_tip_centre_plan,
 )
 from mx_bluesky.hyperion.parameters.constants import CONST
+from mx_bluesky.hyperion.parameters.device_composites import (
+    HyperionGridDetectThenXRayCentreComposite,
+)
 from mx_bluesky.hyperion.parameters.gridscan import (
     GridScanWithEdgeDetect,
+    HyperionSpecifiedThreeDGridScan,
     PinTipCentreThenXrayCentre,
 )
 
 
-def create_devices(context: BlueskyContext) -> GridDetectThenXRayCentreComposite:
+def create_devices(
+    context: BlueskyContext,
+) -> HyperionGridDetectThenXRayCentreComposite:
     """
-    GridDetectThenXRayCentreComposite contains all the devices we need, reuse that.
+    HyperionGridDetectThenXRayCentreComposite contains all the devices we need, reuse that.
     """
-    return device_composite_from_context(context, GridDetectThenXRayCentreComposite)
+    return device_composite_from_context(
+        context, HyperionGridDetectThenXRayCentreComposite
+    )
 
 
 def create_parameters_for_grid_detection(
@@ -60,7 +70,7 @@ def create_parameters_for_grid_detection(
 
 
 def pin_centre_then_flyscan_plan(
-    composite: GridDetectThenXRayCentreComposite,
+    composite: HyperionGridDetectThenXRayCentreComposite,
     parameters: PinTipCentreThenXrayCentre,
     oav_config_file: str = OavConstants.OAV_CONFIG_JSON,
 ):
@@ -92,20 +102,21 @@ def pin_centre_then_flyscan_plan(
         )
 
         grid_detect_params = create_parameters_for_grid_detection(parameters)
-
         oav_params = OAVParameters("xrayCentring", oav_config_file)
 
         yield from detect_grid_and_do_gridscan(
             composite,
             grid_detect_params,
             oav_params,
+            HyperionSpecifiedThreeDGridScan,
+            construct_hyperion_specific_features,
         )
 
     yield from ispyb_activation_wrapper(_pin_centre_then_flyscan_plan(), parameters)
 
 
 def pin_tip_centre_then_xray_centre(
-    composite: GridDetectThenXRayCentreComposite,
+    composite: HyperionGridDetectThenXRayCentreComposite,
     parameters: PinTipCentreThenXrayCentre,
     oav_config_file: str = OavConstants.OAV_CONFIG_JSON,
 ) -> MsgGenerator:

mx_bluesky/hyperion/experiment_plans/robot_load_and_change_energy.py

@@ -19,7 +19,7 @@ from dodal.devices.i03.undulator_dcm import UndulatorDCM
 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.smargon import CombinedMove, Smargon, StubPosition
 from dodal.devices.thawer import Thawer
 from dodal.devices.webcam import Webcam
 from dodal.devices.xbpm_feedback import XBPMFeedback
@@ -104,16 +104,7 @@ def prepare_for_robot_load(
 
     yield from bps.mv(smargon.stub_offsets, StubPosition.RESET_TO_ROBOT_LOAD)
 
-    # fmt: off
-    yield from bps.mv(
-        smargon.x, 0,
-        smargon.y, 0,
-        smargon.z, 0,
-        smargon.omega, 0,
-        smargon.chi, 0,
-        smargon.phi, 0
-    )
-    # fmt: on
+    yield from bps.mv(smargon, CombinedMove(x=0, y=0, z=0, chi=0, phi=0, omega=0))
 
     yield from bps.wait("prepare_robot_load")
 

mx_bluesky/hyperion/experiment_plans/robot_load_then_centre_plan.py

@@ -35,13 +35,12 @@ from dodal.devices.zocalo import ZocaloResults
 from dodal.log import LOGGER
 from ophyd_async.fastcs.panda import HDFPanda
 
+from mx_bluesky.common.device_setup_plans.utils import (
+    start_preparing_data_collection_then_do_plan,
+)
 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 (
-    GridDetectThenXRayCentreComposite,
 )
 from mx_bluesky.hyperion.experiment_plans.pin_centre_then_xray_centre_plan import (
     pin_centre_then_flyscan_plan,
@@ -56,6 +55,9 @@ from mx_bluesky.hyperion.experiment_plans.set_energy_plan import (
     set_energy_plan,
 )
 from mx_bluesky.hyperion.parameters.constants import CONST
+from mx_bluesky.hyperion.parameters.device_composites import (
+    HyperionGridDetectThenXRayCentreComposite,
+)
 from mx_bluesky.hyperion.parameters.robot_load import RobotLoadThenCentre
 
 
@@ -65,7 +67,7 @@ class RobotLoadThenCentreComposite:
     xbpm_feedback: XBPMFeedback
     attenuator: BinaryFilterAttenuator
 
-    # GridDetectThenXRayCentreComposite fields
+    # HyperionGridDetectThenXRayCentreComposite fields
     aperture_scatterguard: ApertureScatterguard
     backlight: Backlight
     detector_motion: DetectorMotion
@@ -110,7 +112,7 @@ def _flyscan_plan_from_robot_load_params(
     oav_config_file: str = OavConstants.OAV_CONFIG_JSON,
 ):
     yield from pin_centre_then_flyscan_plan(
-        cast(GridDetectThenXRayCentreComposite, composite),
+        cast(HyperionGridDetectThenXRayCentreComposite, composite),
         params.pin_centre_then_xray_centre_params,
         oav_config_file,
     )