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

mx_bluesky/hyperion/experiment_plans/robot_load_and_change_energy.py

@@ -10,22 +10,25 @@ import bluesky.preprocessors as bpp
 import pydantic
 from blueapi.core import BlueskyContext
 from bluesky.utils import Msg
-from dodal.devices.aperturescatterguard import ApertureScatterguard, ApertureValue
+from dodal.devices.aperturescatterguard import ApertureScatterguard
 from dodal.devices.attenuator.attenuator import BinaryFilterAttenuator
 from dodal.devices.backlight import Backlight, BacklightPosition
 from dodal.devices.focusing_mirror import FocusingMirrorWithStripes, MirrorVoltages
 from dodal.devices.i03.dcm import DCM
 from dodal.devices.i03.undulator_dcm import UndulatorDCM
-from dodal.devices.motors import XYZPositioner
+from dodal.devices.motors import XYZStage
 from dodal.devices.oav.oav_detector import OAV
 from dodal.devices.robot import BartRobot, SampleLocation
-from dodal.devices.smargon import CombinedMove, Smargon, StubPosition
+from dodal.devices.smargon import Smargon
 from dodal.devices.thawer import Thawer
 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.utils.log import LOGGER
+from mx_bluesky.common.device_setup_plans.robot_load_unload import (
+    do_plan_while_lower_gonio_at_home,
+    prepare_for_robot_load,
+    wait_for_smargon_not_disabled,
+)
 from mx_bluesky.hyperion.experiment_plans.set_energy_plan import (
     SetEnergyComposite,
     set_energy_plan,
@@ -47,7 +50,7 @@ class RobotLoadAndEnergyChangeComposite:
     # RobotLoad fields
     robot: BartRobot
     webcam: Webcam
-    lower_gonio: XYZPositioner
+    lower_gonio: XYZStage
     thawer: Thawer
     oav: OAV
     smargon: Smargon
@@ -61,25 +64,6 @@ def create_devices(context: BlueskyContext) -> RobotLoadAndEnergyChangeComposite
     return device_composite_from_context(context, RobotLoadAndEnergyChangeComposite)
 
 
-def wait_for_smargon_not_disabled(smargon: Smargon, timeout=60):
-    """Waits for the smargon disabled flag to go low. The robot hardware is responsible
-    for setting this to low when it is safe to move. It does this through a physical
-    connection between the robot and the smargon.
-    """
-    LOGGER.info("Waiting for smargon enabled")
-    SLEEP_PER_CHECK = 0.1
-    times_to_check = int(timeout / SLEEP_PER_CHECK)
-    for _ in range(times_to_check):
-        smargon_disabled = yield from bps.rd(smargon.disabled)
-        if not smargon_disabled:
-            LOGGER.info("Smargon now enabled")
-            return
-        yield from bps.sleep(SLEEP_PER_CHECK)
-    raise TimeoutError(
-        "Timed out waiting for smargon to become enabled after robot load"
-    )
-
-
 def take_robot_snapshots(oav: OAV, webcam: Webcam, directory: Path):
     time_now = datetime.now()
     snapshot_format = f"{time_now.strftime('%H%M%S')}_{{device}}_after_load"
@@ -93,28 +77,15 @@ def take_robot_snapshots(oav: OAV, webcam: Webcam, directory: Path):
         yield from bps.wait("snapshots")
 
 
-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 do_robot_load(
     composite: RobotLoadAndEnergyChangeComposite,
     sample_location: SampleLocation,
+    sample_id: int,
     demand_energy_ev: float | None,
     thawing_time: float,
 ):
+    yield from bps.abs_set(composite.robot.next_sample_id, sample_id, wait=True)
+
     yield from bps.abs_set(
         composite.robot,
         sample_location,
@@ -133,16 +104,6 @@ def do_robot_load(
     yield from wait_for_smargon_not_disabled(composite.smargon)
 
 
-def raise_exception_if_moved_out_of_cryojet(exception):
-    yield from bps.null()
-    if isinstance(exception, MoveTooLarge):
-        raise Exception(
-            f"Moving {exception.axis} back to {exception.position} after \
-                        robot load would move it out of the cryojet. The max safe \
-                        distance is {exception.maximum_move}"
-        )
-
-
 def pin_already_loaded(
     robot: BartRobot, sample_location: SampleLocation
 ) -> Generator[Msg, None, bool]:
@@ -158,6 +119,7 @@ def robot_load_and_snapshots(
     composite: RobotLoadAndEnergyChangeComposite,
     location: SampleLocation,
     snapshot_directory: Path,
+    sample_id: int,
     thawing_time: float,
     demand_energy_ev: float | None,
 ):
@@ -166,37 +128,25 @@ def robot_load_and_snapshots(
     robot_load_plan = do_robot_load(
         composite,
         location,
+        sample_id,
         demand_energy_ev,
         thawing_time,
     )
 
-    # The lower gonio must be in the correct position for the robot load and we
-    # want to put it back afterwards. Note we don't wait the robot is interlocked
-    # to the lower gonio and the  move is quicker than the robot takes to get to the
-    # load position.
-    yield from bpp.contingency_wrapper(
-        home_and_reset_wrapper(
-            robot_load_plan,
-            composite.lower_gonio,
-            BartRobot.LOAD_TOLERANCE_MM,
-            CONST.HARDWARE.CRYOJET_MARGIN_MM,
-            "lower_gonio",
-            wait_for_all=False,
-        ),
-        except_plan=raise_exception_if_moved_out_of_cryojet,
+    gonio_finished = yield from do_plan_while_lower_gonio_at_home(
+        robot_load_plan, composite.lower_gonio
     )
-
     yield from bps.wait(group="snapshot")
 
     yield from take_robot_snapshots(composite.oav, composite.webcam, snapshot_directory)
 
-    yield from bps.create(name=CONST.DESCRIPTORS.ROBOT_LOAD)
-    yield from bps.read(composite.robot.barcode)
+    yield from bps.create(name=CONST.DESCRIPTORS.ROBOT_UPDATE)
+    yield from bps.read(composite.robot)
     yield from bps.read(composite.oav.snapshot)
     yield from bps.read(composite.webcam)
     yield from bps.save()
 
-    yield from bps.wait("reset-lower_gonio")
+    yield from bps.wait(gonio_finished)
 
 
 def robot_load_and_change_energy_plan(
@@ -218,17 +168,13 @@ def robot_load_and_change_energy_plan(
                 composite,
                 sample_location,
                 params.snapshot_directory,
+                params.sample_id,
                 params.thawing_time,
                 params.demand_energy_ev,
             ),
             md={
                 "subplan_name": CONST.PLAN.ROBOT_LOAD,
-                "metadata": {
-                    "visit": params.visit,
-                    "sample_id": params.sample_id,
-                    "sample_puck": sample_location.puck,
-                    "sample_pin": sample_location.pin,
-                },
+                "metadata": {"visit": params.visit, "sample_id": params.sample_id},
                 "activate_callbacks": [
                     "RobotLoadISPyBCallback",
                 ],

mx_bluesky/hyperion/experiment_plans/robot_load_then_centre_plan.py

@@ -18,7 +18,7 @@ from dodal.devices.focusing_mirror import FocusingMirrorWithStripes, MirrorVolta
 from dodal.devices.i03 import Beamstop
 from dodal.devices.i03.dcm import DCM
 from dodal.devices.i03.undulator_dcm import UndulatorDCM
-from dodal.devices.motors import XYZPositioner
+from dodal.devices.motors import XYZStage
 from dodal.devices.oav.oav_detector import OAV
 from dodal.devices.oav.pin_image_recognition import PinTipDetection
 from dodal.devices.robot import BartRobot, SampleLocation
@@ -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
@@ -94,7 +96,7 @@ class RobotLoadThenCentreComposite:
     # RobotLoad fields
     robot: BartRobot
     webcam: Webcam
-    lower_gonio: XYZPositioner
+    lower_gonio: XYZStage
     beamstop: Beamstop
 
 
@@ -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,
     )

mx_bluesky/hyperion/experiment_plans/rotation_scan_plan.py

@@ -34,12 +34,20 @@ from mx_bluesky.common.device_setup_plans.manipulate_sample import (
     cleanup_sample_environment,
     setup_sample_environment,
 )
-from mx_bluesky.common.parameters.components import WithSnapshot
-from mx_bluesky.common.plans.read_hardware import (
+from mx_bluesky.common.device_setup_plans.utils import (
+    start_preparing_data_collection_then_do_plan,
+)
+from mx_bluesky.common.experiment_plans.oav_snapshot_plan import (
+    OavSnapshotComposite,
+    oav_snapshot_plan,
+    setup_beamline_for_OAV,
+)
+from mx_bluesky.common.experiment_plans.read_hardware import (
     read_hardware_for_zocalo,
     standard_read_hardware_during_collection,
     standard_read_hardware_pre_collection,
 )
+from mx_bluesky.common.parameters.components import WithSnapshot
 from mx_bluesky.common.preprocessors.preprocessors import (
     transmission_and_xbpm_feedback_for_collection_decorator,
 )
@@ -50,14 +58,6 @@ from mx_bluesky.hyperion.device_setup_plans.setup_zebra import (
     setup_zebra_for_rotation,
     tidy_up_zebra_after_rotation_scan,
 )
-from mx_bluesky.hyperion.device_setup_plans.utils import (
-    start_preparing_data_collection_then_do_plan,
-)
-from mx_bluesky.hyperion.experiment_plans.oav_snapshot_plan import (
-    OavSnapshotComposite,
-    oav_snapshot_plan,
-    setup_beamline_for_OAV,
-)
 from mx_bluesky.hyperion.parameters.constants import CONST
 from mx_bluesky.hyperion.parameters.rotation import (
     RotationScan,
@@ -342,15 +342,20 @@ def _move_and_rotation(
 
     if params.take_snapshots:
         yield from bps.wait(CONST.WAIT.MOVE_GONIO_TO_START)
-        yield from setup_beamline_for_OAV(
-            composite.smargon, composite.backlight, composite.aperture_scatterguard
-        )
-        yield from bps.wait(group=CONST.WAIT.READY_FOR_OAV)
+
+        if not params.use_grid_snapshots:
+            yield from setup_beamline_for_OAV(
+                composite.smargon,
+                composite.backlight,
+                composite.aperture_scatterguard,
+                wait=True,
+            )
+
         if params.selected_aperture:
             yield from bps.prepare(
                 composite.aperture_scatterguard,
                 params.selected_aperture,
-                group=CONST.WAIT.ROTATION_READY_FOR_DC,
+                group=CONST.WAIT.PREPARE_APERTURE,
             )
         yield from oav_snapshot_plan(composite, params, oav_params)
     yield from rotation_scan_plan(composite, params, motion_values)

mx_bluesky/hyperion/external_interaction/agamemnon.py

@@ -148,6 +148,7 @@ def populate_parameters_from_agamemnon(agamemnon_params) -> Sequence[LoadCentreC
                     "name": "TopNByMaxCount",
                     "n": pin_type.expected_number_of_crystals,
                 },
+                "features": {"use_gpu_results": True},
                 "robot_load_then_centre": {
                     "storage_directory": str(visit_directory) + "/xraycentring",
                     "file_name": file_name,
@@ -156,7 +157,6 @@ def populate_parameters_from_agamemnon(agamemnon_params) -> Sequence[LoadCentreC
                     "omega_start_deg": 0.0,
                     "chi_start_deg": collection["chi"],
                     "transmission_frac": 1.0,
-                    "features": {"use_gpu_results": True},
                     **with_energy_params,
                 },
                 "multi_rotation_scan": {
@@ -228,10 +228,10 @@ def update_params_from_agamemnon(parameters: T) -> T:
             parameters.robot_load_then_centre.grid_width_um = pin_type.full_width
             parameters.select_centres.n = pin_type.expected_number_of_crystals
             if pin_type != SinglePin():
-                # Snapshots between each collection take a lot of time.
-                # Before we do https://github.com/DiamondLightSource/mx-bluesky/issues/226
-                # this will give no snapshots but that's preferable
+                # Rotation snapshots will be generated from the gridscan snapshots,
+                # no need to specify snapshot omega.
                 parameters.multi_rotation_scan.snapshot_omegas_deg = []
+                parameters.multi_rotation_scan.use_grid_snapshots = True
     except (ValueError, ValidationError) as e:
         LOGGER.warning(f"Failed to update parameters: {e}")
     except Exception as e:

mx_bluesky/hyperion/external_interaction/callbacks/__main__.py

@@ -29,7 +29,7 @@ from mx_bluesky.common.utils.log import (
     _get_logging_dirs,
     tag_filter,
 )
-from mx_bluesky.hyperion.external_interaction.callbacks.robot_load.ispyb_callback import (
+from mx_bluesky.hyperion.external_interaction.callbacks.robot_actions.ispyb_callback import (
     RobotLoadISPyBCallback,
 )
 from mx_bluesky.hyperion.external_interaction.callbacks.rotation.ispyb_callback import (

mx_bluesky/hyperion/external_interaction/callbacks/{robot_load → robot_actions}/ispyb_callback.py

@@ -12,6 +12,7 @@ from mx_bluesky.common.external_interaction.ispyb.exp_eye_store import (
     BLSampleStatus,
     ExpeyeInteraction,
     RobotActionID,
+    create_update_data_from_event_doc,
 )
 from mx_bluesky.common.utils.log import ISPYB_ZOCALO_CALLBACK_LOGGER
 from mx_bluesky.hyperion.parameters.constants import CONST
@@ -20,11 +21,21 @@ if TYPE_CHECKING:
     from event_model.documents import Event, EventDescriptor, RunStart, RunStop
 
 
+robot_update_mapping = {
+    "robot-barcode": "sampleBarcode",
+    "robot-current_pin": "containerLocation",
+    "robot-current_puck": "dewarLocation",
+    # I03 uses webcam/oav snapshots in place of before/after snapshots
+    "webcam-last_saved_path": "xtalSnapshotBefore",
+    "oav-snapshot-last_saved_path": "xtalSnapshotAfter",
+}
+
+
 class RobotLoadISPyBCallback(PlanReactiveCallback):
     def __init__(self) -> None:
         ISPYB_ZOCALO_CALLBACK_LOGGER.debug("Initialising ISPyB Robot Load Callback")
         super().__init__(log=ISPYB_ZOCALO_CALLBACK_LOGGER)
-        self._metadata: dict | None = None
+        self._sample_id: int | None = None
 
         self.run_uid: str | None = None
         self.descriptors: dict[str, EventDescriptor] = {}
@@ -35,22 +46,24 @@ class RobotLoadISPyBCallback(PlanReactiveCallback):
         ISPYB_ZOCALO_CALLBACK_LOGGER.debug(
             "ISPyB robot load callback received start document."
         )
-        if doc.get("subplan_name") == CONST.PLAN.ROBOT_LOAD:
+        subplan = doc.get("subplan_name")
+        if subplan == CONST.PLAN.ROBOT_LOAD or subplan == CONST.PLAN.ROBOT_UNLOAD:
             ISPYB_ZOCALO_CALLBACK_LOGGER.debug(
                 f"ISPyB robot load callback received: {doc}"
             )
             self.run_uid = doc.get("uid")
-            self._metadata = doc.get("metadata")
-            assert isinstance(self._metadata, dict)
+            metadata = doc.get("metadata")
+            assert isinstance(metadata, dict)
+            self._sample_id = metadata["sample_id"]
+            assert isinstance(self._sample_id, int)
             proposal, session = get_proposal_and_session_from_visit_string(
-                self._metadata["visit"]
+                metadata["visit"]
             )
-            self.action_id = self.expeye.start_load(
+            self.action_id = self.expeye.start_robot_action(
+                "LOAD" if subplan == CONST.PLAN.ROBOT_LOAD else "UNLOAD",
                 proposal,
                 session,
-                self._metadata["sample_id"],
-                self._metadata["sample_puck"],
-                self._metadata["sample_pin"],
+                self._sample_id,
             )
         return super().activity_gated_start(doc)
 
@@ -62,18 +75,14 @@ class RobotLoadISPyBCallback(PlanReactiveCallback):
         event_descriptor = self.descriptors.get(doc["descriptor"])
         if (
             event_descriptor
-            and event_descriptor.get("name") == CONST.DESCRIPTORS.ROBOT_LOAD
+            and event_descriptor.get("name") == CONST.DESCRIPTORS.ROBOT_UPDATE
         ):
             assert self.action_id is not None, (
                 "ISPyB Robot load callback event called unexpectedly"
             )
-            barcode = doc["data"]["robot-barcode"]
-            oav_snapshot = doc["data"]["oav-snapshot-last_saved_path"]
-            webcam_snapshot = doc["data"]["webcam-last_saved_path"]
             # I03 uses webcam/oav snapshots in place of before/after snapshots
-            self.expeye.update_barcode_and_snapshots(
-                self.action_id, barcode, webcam_snapshot, oav_snapshot
-            )
+            update_data = create_update_data_from_event_doc(robot_update_mapping, doc)
+            self.expeye.update_robot_action(self.action_id, update_data)
 
         return super().activity_gated_event(doc)
 
@@ -87,12 +96,12 @@ class RobotLoadISPyBCallback(PlanReactiveCallback):
             )
             exit_status = doc.get("exit_status")
             assert exit_status, "Exit status not available in stop document!"
-            assert self._metadata, "Metadata not received before stop document."
+            assert self._sample_id is not None, "Stop called before start"
             reason = doc.get("reason") or "OK"
 
-            self.expeye.end_load(self.action_id, exit_status, reason)
+            self.expeye.end_robot_action(self.action_id, exit_status, reason)
             self.expeye.update_sample_status(
-                self._metadata["sample_id"],
+                self._sample_id,
                 BLSampleStatus.LOADED
                 if exit_status == "success"
                 else BLSampleStatus.ERROR_BEAMLINE,

mx_bluesky/hyperion/external_interaction/callbacks/rotation/ispyb_callback.py

@@ -54,6 +54,7 @@ class RotationISPyBCallback(BaseISPyBCallback):
         super().__init__(emit=emit)
         self.last_sample_id: int | None = None
         self.ispyb_ids: IspybIds = IspybIds()
+        self.ispyb = StoreInIspyb(self.ispyb_config)
 
     def activity_gated_start(self, doc: RunStart):
         if doc.get("subplan_name") == CONST.PLAN.ROTATION_OUTER:
@@ -82,7 +83,6 @@ class RotationISPyBCallback(BaseISPyBCallback):
                     f"Collection is {self.params.ispyb_experiment_type} - storing sampleID to bundle images"
                 )
                 self.last_sample_id = self.params.sample_id
-            self.ispyb = StoreInIspyb(self.ispyb_config)
             ISPYB_ZOCALO_CALLBACK_LOGGER.info("Beginning ispyb deposition")
             data_collection_group_info = populate_data_collection_group(self.params)
             data_collection_info = populate_data_collection_info_for_rotation(

mx_bluesky/hyperion/external_interaction/callbacks/snapshot_callback.py

@@ -1,4 +1,5 @@
 import dataclasses
+import os
 import re
 from collections.abc import Iterator
 from datetime import datetime
@@ -172,6 +173,8 @@ class BeamDrawingCallback(PlanReactiveCallback):
                 f"Generating snapshot at {current_sample_pos_mm} from base snapshot {snapshot_info}"
             )
             output_snapshot_directory = data["oav-snapshot-directory"]
+            if not os.path.exists(output_snapshot_directory):
+                os.mkdir(output_snapshot_directory)
             base_file_stem = Path(snapshot_info.snapshot_path).stem
             output_snapshot_filename = _snapshot_filename(base_file_stem)
             output_snapshot_path = (

mx_bluesky/hyperion/external_interaction/config_server.py

@@ -1,7 +1,6 @@
 from functools import cache
 
 from daq_config_server.client import ConfigServer
-from pydantic import model_validator
 
 from mx_bluesky.common.external_interaction.config_server import FeatureFlags
 from mx_bluesky.common.utils.log import LOGGER
@@ -14,8 +13,6 @@ class HyperionFeatureFlags(FeatureFlags):
 
     Attributes:
         use_panda_for_gridscan:         If True then the PandA is used for gridscans, otherwise the zebra is used
-        compare_cpu_and_gpu_zocalo:     If True then GPU result processing is enabled
-            alongside CPU and the results are compared. The CPU result is still take.n
         use_gpu_results:                If True then GPU result processing is enabled
             and the GPU result is taken.
         set_stub_offsets:               If True then set the stub offsets after moving to the crystal (ignored for
@@ -31,15 +28,7 @@ class HyperionFeatureFlags(FeatureFlags):
     def get_config_server() -> ConfigServer:
         return ConfigServer(CONST.CONFIG_SERVER_URL, LOGGER)
 
-    @model_validator(mode="after")
-    def use_gpu_and_compare_cannot_both_be_true(self):
-        assert not (self.use_gpu_results and self.compare_cpu_and_gpu_zocalo), (
-            "Cannot both use GPU results and compare them to CPU"
-        )
-        return self
-
     use_panda_for_gridscan: bool = CONST.I03.USE_PANDA_FOR_GRIDSCAN
-    compare_cpu_and_gpu_zocalo: bool = CONST.I03.COMPARE_CPU_AND_GPU_ZOCALO
     use_gpu_results: bool = CONST.I03.USE_GPU_RESULTS
     set_stub_offsets: bool = CONST.I03.SET_STUB_OFFSETS
     omega_flip: bool = CONST.I03.OMEGA_FLIP

mx_bluesky/hyperion/parameters/constants.py

@@ -19,7 +19,6 @@ TEST_MODE = os.environ.get("HYPERION_TEST_MODE")
 
 @dataclass(frozen=True)
 class I03Constants:
-    BASE_DATA_DIR = "/tmp/dls/i03/data/" if TEST_MODE else "/dls/i03/data/"
     BEAMLINE = "BL03S" if TEST_MODE else "BL03I"
     DETECTOR = EIGER2_X_16M_SIZE
     INSERTION_PREFIX = "SR03S" if TEST_MODE else "SR03I"
@@ -30,12 +29,8 @@ class I03Constants:
     OMEGA_FLIP = True
     ALTERNATE_ROTATION_DIRECTION = True
 
-    # Turns on GPU processing for zocalo and logs a comparison between GPU and CPU-
-    # processed results.
-    COMPARE_CPU_AND_GPU_ZOCALO = False
-
     # Turns on GPU processing for zocalo and uses the results that come back
-    USE_GPU_RESULTS = False
+    USE_GPU_RESULTS = True
 
 
 @dataclass(frozen=True)

mx_bluesky/hyperion/parameters/device_composites.py

@@ -7,19 +7,14 @@ from dodal.devices.aperturescatterguard import (
 from dodal.devices.attenuator.attenuator import BinaryFilterAttenuator
 from dodal.devices.backlight import Backlight
 from dodal.devices.common_dcm import BaseDCM
-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 import Beamstop
-from dodal.devices.oav.oav_detector import OAV
-from dodal.devices.oav.pin_image_recognition import PinTipDetection
 from dodal.devices.robot import BartRobot
 from dodal.devices.s4_slit_gaps import S4SlitGaps
-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
@@ -28,9 +23,12 @@ 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.plans.common_flyscan_xray_centre_plan import (
+from mx_bluesky.common.experiment_plans.common_flyscan_xray_centre_plan import (
     FlyScanEssentialDevices,
 )
+from mx_bluesky.common.parameters.device_composites import (
+    GridDetectThenXRayCentreComposite,
+)
 
 
 @pydantic.dataclasses.dataclass(config={"arbitrary_types_allowed": True})
@@ -57,28 +55,8 @@ class HyperionFlyScanXRayCentreComposite(FlyScanEssentialDevices):
 
 
 @pydantic.dataclasses.dataclass(config={"arbitrary_types_allowed": True})
-class GridDetectThenXRayCentreComposite:
+class HyperionGridDetectThenXRayCentreComposite(GridDetectThenXRayCentreComposite):
     """All devices which are directly or indirectly required by this plan"""
 
-    aperture_scatterguard: ApertureScatterguard
-    attenuator: BinaryFilterAttenuator
-    backlight: Backlight
-    beamstop: Beamstop
-    dcm: BaseDCM
-    detector_motion: DetectorMotion
-    eiger: EigerDetector
-    zebra_fast_grid_scan: ZebraFastGridScan
-    flux: Flux
-    oav: OAV
-    pin_tip_detection: PinTipDetection
-    smargon: Smargon
-    synchrotron: Synchrotron
-    s4_slit_gaps: S4SlitGaps
-    undulator: Undulator
-    xbpm_feedback: XBPMFeedback
-    zebra: Zebra
-    zocalo: ZocaloResults
     panda: HDFPanda
     panda_fast_grid_scan: PandAFastGridScan
-    robot: BartRobot
-    sample_shutter: ZebraShutter

mx_bluesky/hyperion/parameters/gridscan.py

@@ -20,9 +20,7 @@ class GridCommonWithHyperionDetectorParams(GridCommon, WithHyperionUDCFeatures):
     @property
     def detector_params(self):
         params = super().detector_params
-        params.enable_dev_shm = (
-            self.features.compare_cpu_and_gpu_zocalo or self.features.use_gpu_results
-        )
+        params.enable_dev_shm = self.features.use_gpu_results
         return params
 
 
@@ -35,9 +33,7 @@ class HyperionSpecifiedThreeDGridScan(WithHyperionUDCFeatures, SpecifiedThreeDGr
     @property
     def detector_params(self):
         params = super().detector_params
-        params.enable_dev_shm = (
-            self.features.compare_cpu_and_gpu_zocalo or self.features.use_gpu_results
-        )
+        params.enable_dev_shm = self.features.use_gpu_results
         return params
 
     # Relative to common grid scan, stub offsets are defined by config server

mx_bluesky/hyperion/parameters/load_centre_collect.py

@@ -50,6 +50,12 @@ class LoadCentreCollect(
             f"Unexpected fields found in LoadCentreCollect {disallowed_keys}"
         )
 
+        assert "features" not in values["robot_load_then_centre"], (
+            "Features flags must be specified at top-level in LoadCentreCollect"
+        )
+        assert "features" not in values["multi_rotation_scan"], (
+            "Features flags must be specified at top-level in LoadCentreCollect"
+        )
         keys_from_outer_load_centre_collect = (
             MxBlueskyParameters.model_fields.keys()
             | WithSample.model_fields.keys()
@@ -70,6 +76,9 @@ class LoadCentreCollect(
             f"Unexpected keys in multi_rotation_scan: {', '.join(duplicated_multi_rotation_scan_keys)}"
         )
 
+        for rotation in values["multi_rotation_scan"]["rotation_scans"]:
+            rotation["sample_id"] = values["sample_id"]
+
         new_robot_load_then_centre_params = construct_from_values(
             values, values["robot_load_then_centre"], RobotLoadThenCentre
         )
@@ -80,6 +89,12 @@ class LoadCentreCollect(
         values["robot_load_then_centre"] = new_robot_load_then_centre_params
         return values
 
+    @model_validator(mode="after")
+    def _ensure_features_are_internally_consistent(self) -> Self:
+        self.robot_load_then_centre.features = self.features
+        self.multi_rotation_scan.features = self.features
+        return self
+
     @model_validator(mode="after")
     def _check_rotation_start_xyz_is_not_specified(self) -> Self:
         for scan in self.multi_rotation_scan.single_rotation_scans: