mx-bluesky 1.4.9__py3-none-any.whl → 1.5.1__py3-none-any.whl

mx_bluesky/_version.py

@@ -17,5 +17,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '1.4.9'
-__version_tuple__ = version_tuple = (1, 4, 9)
+__version__ = version = '1.5.1'
+__version_tuple__ = version_tuple = (1, 5, 1)

mx_bluesky/beamlines/i24/serial/__init__.py

@@ -2,7 +2,8 @@ from mx_bluesky.beamlines.i24.serial.web_gui_plans.general_plans import (
     gui_gonio_move_on_click,
     gui_move_backlight,
     gui_move_detector,
-    gui_set_parameters,
+    gui_run_chip_collection,
+    gui_set_zoom_level,
     gui_sleep,
     gui_stage_move_on_click,
 )
@@ -57,6 +58,7 @@ __all__ = [
     "gui_gonio_move_on_click",
     "gui_sleep",
     "gui_move_detector",
-    "gui_set_parameters",
+    "gui_run_chip_collection",
     "gui_move_backlight",
+    "gui_set_zoom_level",
 ]

mx_bluesky/beamlines/i24/serial/blueapi_config.yaml

@@ -8,6 +8,10 @@ env:
     broadcast_status_events: false
 api:
   port: 25565
+  cors:
+    allow_credentials: True
+    origins: 
+      - "*"
 stomp:
   enabled: true
   host: i24-control.diamond.ac.uk

mx_bluesky/beamlines/i24/serial/extruder/i24ssx_Extruder_Collect_py3v2.py

@@ -23,8 +23,8 @@ from dodal.devices.i24.beamstop import Beamstop
 from dodal.devices.i24.dcm import DCM
 from dodal.devices.i24.dual_backlight import DualBacklight
 from dodal.devices.i24.focus_mirrors import FocusMirrorsMode
-from dodal.devices.i24.i24_detector_motion import DetectorMotion
 from dodal.devices.i24.pilatus_metadata import PilatusMetadata
+from dodal.devices.motors import YZStage
 from dodal.devices.zebra.zebra import Zebra
 
 from mx_bluesky.beamlines.i24.serial.dcid import (
@@ -70,7 +70,7 @@ def flush_print(text):
 
 @log_on_entry
 def initialise_extruder(
-    detector_stage: DetectorMotion = inject("detector_motion"),
+    detector_stage: YZStage = inject("detector_motion"),
 ) -> MsgGenerator:
     SSX_LOGGER.info("Initialise Parameters for extruder data collection on I24.")
 
@@ -98,7 +98,7 @@ def initialise_extruder(
 def laser_check(
     mode: str,
     zebra: Zebra = inject("zebra"),
-    detector_stage: DetectorMotion = inject("detector_motion"),
+    detector_stage: YZStage = inject("detector_motion"),
 ) -> MsgGenerator:
     """Plan to open the shutter and check the laser beam from the viewer by pressing \
         'Laser On' and 'Laser Off' buttons on the edm.
@@ -138,7 +138,7 @@ def laser_check(
 
 @log_on_entry
 def enter_hutch(
-    detector_stage: DetectorMotion = inject("detector_motion"),
+    detector_stage: YZStage = inject("detector_motion"),
 ) -> MsgGenerator:
     """Move the detector stage before entering hutch."""
     yield from bps.mv(detector_stage.z, SAFE_DET_Z)
@@ -146,12 +146,12 @@ def enter_hutch(
 
 
 @log_on_entry
-def read_parameters(detector_stage: DetectorMotion, attenuator: ReadOnlyAttenuator):
+def read_parameters(detector_stage: YZStage, attenuator: ReadOnlyAttenuator):
     """ Read the parameters from user input and create the parameter model for an \
         extruder collection.
 
     Args:
-        detector_stage (DetectorMotion): The detector stage device.
+        detector_stage (YZStage): The detector stage device.
         attenuator (ReadOnlyAttenuator): A read-only attenuator device to get the \
             transmission value.
 
@@ -208,7 +208,7 @@ def main_extruder_plan(
     aperture: Aperture,
     backlight: DualBacklight,
     beamstop: Beamstop,
-    detector_stage: DetectorMotion,
+    detector_stage: YZStage,
     shutter: HutchShutter,
     dcm: DCM,
     mirrors: FocusMirrorsMode,
@@ -500,7 +500,7 @@ def run_extruder_plan(
     aperture: Aperture = inject("aperture"),
     backlight: DualBacklight = inject("backlight"),
     beamstop: Beamstop = inject("beamstop"),
-    detector_stage: DetectorMotion = inject("detector_motion"),
+    detector_stage: YZStage = inject("detector_motion"),
     shutter: HutchShutter = inject("shutter"),
     dcm: DCM = inject("dcm"),
     mirrors: FocusMirrorsMode = inject("focus_mirrors"),

mx_bluesky/beamlines/i24/serial/fixed_target/i24ssx_Chip_Collect_py3v1.py

@@ -18,9 +18,9 @@ from dodal.devices.i24.beamstop import Beamstop
 from dodal.devices.i24.dcm import DCM
 from dodal.devices.i24.dual_backlight import DualBacklight
 from dodal.devices.i24.focus_mirrors import FocusMirrorsMode
-from dodal.devices.i24.i24_detector_motion import DetectorMotion
 from dodal.devices.i24.pilatus_metadata import PilatusMetadata
 from dodal.devices.i24.pmac import PMAC
+from dodal.devices.motors import YZStage
 from dodal.devices.zebra.zebra import Zebra
 
 from mx_bluesky.beamlines.i24.serial.dcid import (
@@ -269,7 +269,7 @@ def start_i24(
     aperture: Aperture,
     backlight: DualBacklight,
     beamstop: Beamstop,
-    detector_stage: DetectorMotion,
+    detector_stage: YZStage,
     shutter: HutchShutter,
     parameters: FixedTargetParameters,
     dcm: DCM,
@@ -504,7 +504,7 @@ def main_fixed_target_plan(
     aperture: Aperture,
     backlight: DualBacklight,
     beamstop: Beamstop,
-    detector_stage: DetectorMotion,
+    detector_stage: YZStage,
     shutter: HutchShutter,
     dcm: DCM,
     mirrors: FocusMirrorsMode,
@@ -655,7 +655,7 @@ def run_fixed_target_plan(
     aperture: Aperture = inject("aperture"),
     backlight: DualBacklight = inject("backlight"),
     beamstop: Beamstop = inject("beamstop"),
-    detector_stage: DetectorMotion = inject("detector_motion"),
+    detector_stage: YZStage = inject("detector_motion"),
     shutter: HutchShutter = inject("shutter"),
     dcm: DCM = inject("dcm"),
     mirrors: FocusMirrorsMode = inject("focus_mirrors"),
@@ -684,6 +684,38 @@ def run_fixed_target_plan(
     # DCID instance - do not create yet
     dcid = DCID(emit_errors=False, expt_params=parameters)
 
+    yield from run_plan_in_wrapper(
+        zebra,
+        pmac,
+        aperture,
+        backlight,
+        beamstop,
+        detector_stage,
+        shutter,
+        dcm,
+        mirrors,
+        beam_center_device,
+        parameters,
+        dcid,
+        pilatus_metadata,
+    )
+
+
+def run_plan_in_wrapper(
+    zebra: Zebra,
+    pmac: PMAC,
+    aperture: Aperture,
+    backlight: DualBacklight,
+    beamstop: Beamstop,
+    detector_stage: YZStage,
+    shutter: HutchShutter,
+    dcm: DCM,
+    mirrors: FocusMirrorsMode,
+    beam_center_device: DetectorBeamCenter,
+    parameters: FixedTargetParameters,
+    dcid: DCID,
+    pilatus_metadata: PilatusMetadata,
+) -> MsgGenerator:
     yield from bpp.contingency_wrapper(
         main_fixed_target_plan(
             zebra,

mx_bluesky/beamlines/i24/serial/fixed_target/i24ssx_Chip_Manager_py3v1.py

@@ -16,8 +16,8 @@ from dodal.common import inject
 from dodal.devices.attenuator.attenuator import ReadOnlyAttenuator
 from dodal.devices.i24.beamstop import Beamstop, BeamstopPositions
 from dodal.devices.i24.dual_backlight import BacklightPositions, DualBacklight
-from dodal.devices.i24.i24_detector_motion import DetectorMotion
 from dodal.devices.i24.pmac import PMAC, EncReset, LaserSettings
+from dodal.devices.motors import YZStage
 
 from mx_bluesky.beamlines.i24.serial.fixed_target.ft_utils import (
     ChipType,
@@ -121,14 +121,14 @@ def _is_checker_pattern() -> bool:
 
 @log_on_entry
 def read_parameters(
-    detector_stage: DetectorMotion,
+    detector_stage: YZStage,
     attenuator: ReadOnlyAttenuator,
 ) -> MsgGenerator:
     """ Read the parameters from user input and create the parameter model for a fixed \
         target collection.
 
     Args:
-        detector_stage (DetectorMotion): The detector stage device.
+        detector_stage (YZStage): The detector stage device.
         attenuator (ReadOnlyAttenuator): A read-only attenuator device to get the \
             transmission value.
 
@@ -256,6 +256,7 @@ def upload_chip_map_to_geobrick(pmac: PMAC, chip_map: list[int]) -> MsgGenerator
     """
     SSX_LOGGER.info("Uploading Parameters for Oxford Chip to the GeoBrick")
     SSX_LOGGER.info(f"Chipid {ChipType.Oxford}, width {OXFORD_CHIP_WIDTH}")
+    SSX_LOGGER.warning(f"MAP TO UPLOAD: {chip_map}")
     for block in range(1, 65):
         value = 1 if block in chip_map else 0
         pvar = PVAR_TEMPLATE % block
@@ -264,7 +265,7 @@ def upload_chip_map_to_geobrick(pmac: PMAC, chip_map: list[int]) -> MsgGenerator
         yield from bps.abs_set(pmac.pmac_string, pvar_str, wait=True)
         # Wait for PMAC to be done processing PVAR string
         yield from bps.sleep(0.02)
-    SSX_LOGGER.debug("Upload parameters done.")
+    SSX_LOGGER.info("Upload parameters done.")
 
 
 @log_on_entry
@@ -565,7 +566,7 @@ def moveto_preset(
     pmac: PMAC = inject("pmac"),
     beamstop: Beamstop = inject("beamstop"),
     backlight: DualBacklight = inject("backlight"),
-    det_stage: DetectorMotion = inject("detector_motion"),
+    det_stage: YZStage = inject("detector_motion"),
 ) -> MsgGenerator:
     # Non Chip Specific Move
     if place == "zero":

mx_bluesky/beamlines/i24/serial/setup_beamline/setup_beamline.py

@@ -7,7 +7,7 @@ from dodal.devices.i24.beam_center import DetectorBeamCenter
 from dodal.devices.i24.beamstop import Beamstop, BeamstopPositions
 from dodal.devices.i24.dcm import DCM
 from dodal.devices.i24.dual_backlight import BacklightPositions, DualBacklight
-from dodal.devices.i24.i24_detector_motion import DetectorMotion
+from dodal.devices.motors import YZStage
 from dodal.devices.util.lookup_tables import (
     linear_interpolation_lut,
     parse_lookup_table,
@@ -69,7 +69,7 @@ def setup_beamline_for_collection_plan(
 
 
 def move_detector_stage_to_position_plan(
-    detector_stage: DetectorMotion,
+    detector_stage: YZStage,
     detector_distance: float,
 ):
     SSX_LOGGER.debug("Setup beamline: moving detector stage.")

mx_bluesky/beamlines/i24/serial/setup_beamline/setup_detector.py

@@ -8,7 +8,7 @@ from enum import IntEnum
 import bluesky.plan_stubs as bps
 from bluesky.utils import Msg, MsgGenerator
 from dodal.common import inject
-from dodal.devices.i24.i24_detector_motion import DetectorMotion
+from dodal.devices.motors import YZStage
 
 from mx_bluesky.beamlines.i24.serial.log import SSX_LOGGER
 from mx_bluesky.beamlines.i24.serial.parameters import SSXType
@@ -38,9 +38,9 @@ class UnknownDetectorType(Exception):
     pass
 
 
-def get_detector_type(detector_stage: DetectorMotion) -> Generator[Msg, None, Detector]:
+def get_detector_type(detector_stage: YZStage) -> Generator[Msg, None, Detector]:
     det_y = yield from bps.rd(detector_stage.y)
-    # DetectorMotion should also be used for this.
+    # YZStage should also be used for this.
     # This should be part of https://github.com/DiamondLightSource/mx_bluesky/issues/51
     if float(det_y) < Eiger.det_y_threshold:
         SSX_LOGGER.info("Eiger detector in use.")
@@ -53,7 +53,7 @@ def get_detector_type(detector_stage: DetectorMotion) -> Generator[Msg, None, De
         raise UnknownDetectorType("Detector not found.")
 
 
-def _move_detector_stage(detector_stage: DetectorMotion, target: float) -> MsgGenerator:
+def _move_detector_stage(detector_stage: YZStage, target: float) -> MsgGenerator:
     SSX_LOGGER.info(f"Moving detector stage to target position: {target}.")
     yield from bps.mv(detector_stage.y, target)
 
@@ -82,7 +82,7 @@ def _get_requested_detector(det_type_pv: str) -> str:
 
 
 def setup_detector_stage(
-    expt_type: SSXType, detector_stage: DetectorMotion = inject("detector_motion")
+    expt_type: SSXType, detector_stage: YZStage = inject("detector_motion")
 ) -> MsgGenerator:
     # Grab the correct PV depending on experiment
     # Its value is set with MUX on edm screen

mx_bluesky/beamlines/i24/serial/web_gui_plans/general_plans.py

@@ -3,19 +3,34 @@ from typing import Literal
 
 import bluesky.plan_stubs as bps
 import bluesky.preprocessors as bpp
-from blueapi.core import MsgGenerator
+from bluesky.utils import MsgGenerator
 from dodal.beamlines import i24
 from dodal.common import inject
+from dodal.devices.hutch_shutter import HutchShutter
+from dodal.devices.i24.aperture import Aperture
+from dodal.devices.i24.beam_center import DetectorBeamCenter
+from dodal.devices.i24.beamstop import Beamstop
+from dodal.devices.i24.dcm import DCM
 from dodal.devices.i24.dual_backlight import BacklightPositions, DualBacklight
-from dodal.devices.i24.i24_detector_motion import DetectorMotion
+from dodal.devices.i24.focus_mirrors import FocusMirrorsMode
+from dodal.devices.i24.pilatus_metadata import PilatusMetadata
 from dodal.devices.i24.pmac import PMAC
-from dodal.devices.oav.oav_detector import OAV
+from dodal.devices.motors import YZStage
+from dodal.devices.oav.oav_detector import OAVBeamCentreFile
+from dodal.devices.zebra.zebra import Zebra
 
+from mx_bluesky.beamlines.i24.serial.dcid import DCID
 from mx_bluesky.beamlines.i24.serial.fixed_target.ft_utils import (
     ChipType,
     MappingType,
     PumpProbeSetting,
 )
+from mx_bluesky.beamlines.i24.serial.fixed_target.i24ssx_Chip_Collect_py3v1 import (
+    run_plan_in_wrapper,
+)
+from mx_bluesky.beamlines.i24.serial.fixed_target.i24ssx_Chip_Manager_py3v1 import (
+    upload_chip_map_to_geobrick,
+)
 from mx_bluesky.beamlines.i24.serial.fixed_target.i24ssx_moveonclick import (
     _move_on_mouse_click_plan,
 )
@@ -24,6 +39,7 @@ from mx_bluesky.beamlines.i24.serial.log import (
     _read_visit_directory_from_file,
 )
 from mx_bluesky.beamlines.i24.serial.parameters import (
+    DetectorName,
     FixedTargetParameters,
     get_chip_format,
 )
@@ -46,9 +62,19 @@ def gui_move_backlight(
     SSX_LOGGER.debug(f"Backlight moved to {bl_pos.value}")
 
 
+@bpp.run_decorator()
+def gui_set_zoom_level(
+    position: str, oav: OAVBeamCentreFile = inject("oav")
+) -> MsgGenerator:
+    yield from bps.abs_set(oav.zoom_controller, position, wait=True)
+    SSX_LOGGER.debug(f"Setting zoom level to {position}")
+
+
 @bpp.run_decorator()
 def gui_stage_move_on_click(
-    position_px: tuple[int, int], oav: OAV = inject("oav"), pmac: PMAC = inject("pmac")
+    position_px: tuple[int, int],
+    oav: OAVBeamCentreFile = inject("oav"),
+    pmac: PMAC = inject("pmac"),
 ) -> MsgGenerator:
     yield from _move_on_mouse_click_plan(oav, pmac, position_px)
 
@@ -78,7 +104,7 @@ def gui_sleep(sec: int) -> MsgGenerator:
 @bpp.run_decorator()
 def gui_move_detector(
     det: Literal["eiger", "pilatus"],
-    detector_stage: DetectorMotion = inject("detector_motion"),
+    detector_stage: YZStage = inject("detector_motion"),
 ) -> MsgGenerator:
     det_y_target = Eiger.det_y_target if det == "eiger" else Pilatus.det_y_target
     yield from _move_detector_stage(detector_stage, det_y_target)
@@ -88,7 +114,7 @@ def gui_move_detector(
 
 
 @bpp.run_decorator()
-def gui_set_parameters(
+def gui_run_chip_collection(
     sub_dir: str,
     chip_name: str,
     exp_time: float,
@@ -103,6 +129,18 @@ def gui_set_parameters(
     laser_dwell: float,
     laser_delay: float,
     pre_pump: float,
+    pmac: PMAC = inject("pmac"),
+    zebra: Zebra = inject("zebra"),
+    aperture: Aperture = inject("aperture"),
+    backlight: DualBacklight = inject("backlight"),
+    beamstop: Beamstop = inject("beamstop"),
+    detector_stage: YZStage = inject("detector_motion"),
+    shutter: HutchShutter = inject("shutter"),
+    dcm: DCM = inject("dcm"),
+    mirrors: FocusMirrorsMode = inject("focus_mirrors"),
+    beam_center_pilatus: DetectorBeamCenter = inject("pilatus_bc"),
+    beam_center_eiger: DetectorBeamCenter = inject("eiger_bc"),
+    pilatus_metadata: PilatusMetadata = inject("pilatus_meta"),
 ) -> MsgGenerator:
     """Set the parameter model for the data collection.
 
@@ -132,7 +170,6 @@ def gui_set_parameters(
     """
     # NOTE still a work in progress, adding to it as the ui grows
     # See progression of https://github.com/DiamondLightSource/mx-daq-ui/issues/3
-    detector_stage = i24.detector_motion()
     det_type = yield from get_detector_type(detector_stage)
     _format = chip_format if ChipType[chip_type] is ChipType.Custom else None
     chip_params = get_chip_format(ChipType[chip_type], _format)
@@ -164,6 +201,38 @@ def gui_set_parameters(
         "checker_pattern": checker_pattern,
         "pre_pump_exposure_s": pre_pump,
     }
-    # TODO run the run_fixed_target plan once params are set (GUI not ready yet)
-    yield from bps.sleep(0.5)
-    return FixedTargetParameters(**params)
+
+    parameters = FixedTargetParameters(**params)
+
+    # Create collection directory
+    parameters.collection_directory.mkdir(parents=True, exist_ok=True)
+
+    if parameters.chip_map:
+        yield from upload_chip_map_to_geobrick(pmac, parameters.chip_map)
+
+    beam_center_device = (
+        beam_center_eiger
+        if parameters.detector_name is DetectorName.EIGER
+        else beam_center_pilatus
+    )
+    SSX_LOGGER.info("Beam center device ready")
+
+    # DCID instance - do not create yet
+    dcid = DCID(emit_errors=False, expt_params=parameters)  # noqa
+    SSX_LOGGER.info("DCID created")
+
+    yield from run_plan_in_wrapper(
+        zebra,
+        pmac,
+        aperture,
+        backlight,
+        beamstop,
+        detector_stage,
+        shutter,
+        dcm,
+        mirrors,
+        beam_center_device,
+        parameters,
+        dcid,
+        pilatus_metadata,
+    )

mx_bluesky/common/device_setup_plans/manipulate_sample.py

@@ -10,6 +10,7 @@ from dodal.devices.detector.detector_motion import DetectorMotion
 from dodal.devices.smargon import CombinedMove, Smargon
 
 from mx_bluesky.common.utils.log import LOGGER
+from mx_bluesky.hyperion.parameters.constants import CONST
 
 LOWER_DETECTOR_SHUTTER_AFTER_SCAN = True
 
@@ -21,6 +22,8 @@ def setup_sample_environment(
     group="setup_senv",
 ):
     """Move the aperture into required position, move out the backlight."""
+    yield from bps.abs_set(backlight, BacklightPosition.OUT, group=group)
+
     aperture_value = (
         None
         if not aperture_position_gda_name
@@ -29,7 +32,6 @@ def setup_sample_environment(
     yield from move_aperture_if_required(
         aperture_scatterguard, aperture_value, group=group
     )
-    yield from bps.abs_set(backlight, BacklightPosition.OUT, group=group)
 
 
 def move_aperture_if_required(
@@ -46,6 +48,7 @@ def move_aperture_if_required(
 
     else:
         LOGGER.info(f"Setting aperture position to {aperture_value}")
+        yield from bps.wait(CONST.WAIT.PREPARE_APERTURE)
         yield from bps.abs_set(
             aperture_scatterguard.selected_aperture,
             aperture_value,

mx_bluesky/common/device_setup_plans/robot_load_unload.py

@@ -0,0 +1,123 @@
+from __future__ import annotations
+
+import bluesky.plan_stubs as bps
+import bluesky.preprocessors as bpp
+from bluesky.utils import MsgGenerator
+from dodal.devices.aperturescatterguard import ApertureScatterguard, ApertureValue
+from dodal.devices.motors import XYZStage
+from dodal.devices.robot import BartRobot
+from dodal.devices.smargon import CombinedMove, Smargon, StubPosition
+from dodal.plan_stubs.motor_utils import MoveTooLarge, home_and_reset_wrapper
+
+from mx_bluesky.common.utils.log import LOGGER
+from mx_bluesky.hyperion.parameters.constants import CONST
+
+
+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 _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 do_plan_while_lower_gonio_at_home(plan: MsgGenerator, lower_gonio: XYZStage):
+    """Moves the lower gonio to home then performs the provided plan and moves it back.
+
+    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 need to wait for the move as the robot
+    is interlocked to the lower gonio and the move is quicker than the robot takes to
+    get to the load position.
+
+    Args:
+        plan (MsgGenerator): The plan to run while the lower gonio is at home.
+        lower_gonio (XYZStage): The lower gonio to home.
+    """
+    yield from bpp.contingency_wrapper(
+        home_and_reset_wrapper(
+            plan,
+            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,
+    )
+    return "reset-lower_gonio"
+
+
+def prepare_for_robot_load(
+    aperture_scatterguard: ApertureScatterguard, smargon: Smargon
+):
+    yield from bps.abs_set(
+        aperture_scatterguard.selected_aperture,
+        ApertureValue.OUT_OF_BEAM,
+        group="prepare_robot_load",
+    )
+
+    yield from bps.mv(smargon.stub_offsets, StubPosition.RESET_TO_ROBOT_LOAD)
+
+    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")
+
+
+def robot_unload(
+    robot: BartRobot,
+    smargon: Smargon,
+    aperture_scatterguard: ApertureScatterguard,
+    lower_gonio: XYZStage,
+    visit: str,
+):
+    """Unloads the currently mounted pin into the location that it was loaded from. The
+    loaded location is stored on the robot and so need not be provided.
+    """
+    yield from prepare_for_robot_load(aperture_scatterguard, smargon)
+    sample_id = yield from bps.rd(robot.sample_id)
+
+    @bpp.run_decorator(
+        md={
+            "subplan_name": CONST.PLAN.ROBOT_UNLOAD,
+            "metadata": {"visit": visit, "sample_id": sample_id},
+            "activate_callbacks": [
+                "RobotLoadISPyBCallback",
+            ],
+        },
+    )
+    def do_robot_unload_and_send_to_ispyb():
+        yield from bps.create(name=CONST.DESCRIPTORS.ROBOT_UPDATE)
+        yield from bps.read(robot)
+        yield from bps.save()
+
+        def _unload():
+            yield from bps.trigger(robot.unload, wait=True)
+            yield from wait_for_smargon_not_disabled(smargon)
+
+        gonio_finished = yield from do_plan_while_lower_gonio_at_home(
+            _unload(), lower_gonio
+        )
+        yield from bps.wait(gonio_finished)
+
+    yield from do_robot_unload_and_send_to_ispyb()

mx_bluesky/common/device_setup_plans/utils.py

@@ -0,0 +1,49 @@
+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.detector_motion import DetectorMotion, ShutterState
+from dodal.devices.eiger import EigerDetector
+from dodal.devices.mx_phase1.beamstop import Beamstop, BeamstopPositions
+
+from mx_bluesky.common.device_setup_plans.position_detector import (
+    set_detector_z_position,
+    set_shutter,
+)
+
+
+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)
+        yield from bps.abs_set(
+            beamstop.selected_pos, BeamstopPositions.DATA_COLLECTION, group=group
+        )
+        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 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)
+    )