mx-bluesky 1.5.0__py3-none-any.whl → 1.5.2__py3-none-any.whl

mx_bluesky/hyperion/device_setup_plans/setup_zebra.py

@@ -1,5 +1,4 @@
 import bluesky.plan_stubs as bps
-from bluesky.utils import MsgGenerator
 from dodal.devices.zebra.zebra import (
     ArmDemand,
     EncEnum,
@@ -12,9 +11,11 @@ from dodal.devices.zebra.zebra_controlled_shutter import (
     ZebraShutterControl,
 )
 
+from mx_bluesky.common.parameters.constants import ZEBRA_STATUS_TIMEOUT
 from mx_bluesky.common.utils.log import LOGGER
-
-ZEBRA_STATUS_TIMEOUT = 30
+from mx_bluesky.phase1_zebra.device_setup_plans.setup_zebra import (
+    configure_zebra_and_shutter_for_auto_shutter,
+)
 
 
 def arm_zebra(zebra: Zebra):
@@ -35,47 +36,6 @@ def tidy_up_zebra_after_rotation_scan(
         yield from bps.wait(group, timeout=ZEBRA_STATUS_TIMEOUT)
 
 
-def set_shutter_auto_input(zebra: Zebra, input: int, group="set_shutter_trigger"):
-    """Set the signal that controls the shutter. We use the second input to the
-    Zebra's AND2 gate for this input. ZebraShutter control mode must be in auto for this input to take control
-
-    For more details see the ZebraShutter device."""
-    auto_gate = zebra.mapping.AND_GATE_FOR_AUTO_SHUTTER
-    auto_shutter_control = zebra.logic_gates.and_gates[auto_gate]
-    yield from bps.abs_set(auto_shutter_control.sources[2], input, group)
-
-
-def configure_zebra_and_shutter_for_auto_shutter(
-    zebra: Zebra, zebra_shutter: ZebraShutter, input: int, group="use_automatic_shutter"
-):
-    """Set the shutter to auto mode, and configure the zebra to trigger the shutter on
-    an input source. For the input, use one of the source constants in zebra.py
-
-    When the shutter is in auto/manual, logic in EPICS sets the Zebra's
-    SOFT_IN1 to low/high respectively. The Zebra's AND2 gate should be used to control the shutter while in auto mode.
-    To do this, we need (AND2 = SOFT_IN1 AND input), where input is the zebra signal we want to control the shutter when in auto mode.
-    """
-    # See https://github.com/DiamondLightSource/dodal/issues/813 for better typing here.
-
-    # Set shutter to auto mode
-    yield from bps.abs_set(
-        zebra_shutter.control_mode, ZebraShutterControl.AUTO, group=group
-    )
-
-    auto_gate = zebra.mapping.AND_GATE_FOR_AUTO_SHUTTER
-
-    # Set first input of AND2 gate to SOFT_IN1, which is high when shutter is in auto mode
-    # Note the Zebra should ALWAYS be setup this way. See https://github.com/DiamondLightSource/mx-bluesky/issues/551
-    yield from bps.abs_set(
-        zebra.logic_gates.and_gates[auto_gate].sources[1],
-        zebra.mapping.sources.SOFT_IN1,
-        group=group,
-    )
-
-    # Set the second input of AND2 gate to the requested zebra input source
-    yield from set_shutter_auto_input(zebra, input, group=group)
-
-
 def setup_zebra_for_rotation(
     zebra: Zebra,
     zebra_shutter: ZebraShutter,
@@ -155,55 +115,6 @@ def setup_zebra_for_rotation(
         yield from bps.wait(group, timeout=ZEBRA_STATUS_TIMEOUT)
 
 
-def setup_zebra_for_gridscan(
-    zebra: Zebra,
-    zebra_shutter: ZebraShutter,
-    group="setup_zebra_for_gridscan",
-    wait=True,
-):
-    # Set shutter to automatic and to trigger via motion controller GPIO signal (IN4_TTL)
-    yield from configure_zebra_and_shutter_for_auto_shutter(
-        zebra, zebra_shutter, zebra.mapping.sources.IN4_TTL, group=group
-    )
-
-    yield from bps.abs_set(
-        zebra.output.out_pvs[zebra.mapping.outputs.TTL_DETECTOR],
-        zebra.mapping.sources.IN3_TTL,
-        group=group,
-    )
-    yield from bps.abs_set(
-        zebra.output.out_pvs[zebra.mapping.outputs.TTL_XSPRESS3],
-        zebra.mapping.sources.DISCONNECT,
-        group=group,
-    )
-    yield from bps.abs_set(
-        zebra.output.pulse_1.input, zebra.mapping.sources.DISCONNECT, group=group
-    )
-
-    if wait:
-        yield from bps.wait(group, timeout=ZEBRA_STATUS_TIMEOUT)
-
-
-def tidy_up_zebra_after_gridscan(
-    zebra: Zebra,
-    zebra_shutter: ZebraShutter,
-    group="tidy_up_zebra_after_gridscan",
-    wait=True,
-) -> MsgGenerator:
-    yield from bps.abs_set(
-        zebra.output.out_pvs[zebra.mapping.outputs.TTL_DETECTOR],
-        zebra.mapping.sources.PC_PULSE,
-        group=group,
-    )
-    yield from bps.abs_set(
-        zebra_shutter.control_mode, ZebraShutterControl.MANUAL, group=group
-    )
-    yield from set_shutter_auto_input(zebra, zebra.mapping.sources.PC_GATE, group=group)
-
-    if wait:
-        yield from bps.wait(group, timeout=ZEBRA_STATUS_TIMEOUT)
-
-
 def setup_zebra_for_panda_flyscan(
     zebra: Zebra,
     zebra_shutter: ZebraShutter,

mx_bluesky/hyperion/experiment_plans/hyperion_flyscan_xray_centre_plan.py

@@ -1,5 +1,6 @@
 from __future__ import annotations
 
+from collections.abc import Callable
 from functools import partial
 from pathlib import Path
 
@@ -19,14 +20,16 @@ from mx_bluesky.hyperion.device_setup_plans.setup_panda import (
     setup_panda_for_flyscan,
 )
 from mx_bluesky.hyperion.device_setup_plans.setup_zebra import (
-    setup_zebra_for_gridscan,
     setup_zebra_for_panda_flyscan,
-    tidy_up_zebra_after_gridscan,
 )
 from mx_bluesky.hyperion.parameters.device_composites import (
     HyperionFlyScanXRayCentreComposite,
 )
 from mx_bluesky.hyperion.parameters.gridscan import HyperionSpecifiedThreeDGridScan
+from mx_bluesky.phase1_zebra.device_setup_plans.setup_zebra import (
+    setup_zebra_for_gridscan,
+    tidy_up_zebra_after_gridscan,
+)
 
 
 class SmargonSpeedException(Exception):
@@ -59,9 +62,11 @@ def construct_hyperion_specific_features(
         xrc_composite.eiger.bit_depth,
     ]
 
+    setup_trigger_plan: Callable[..., MsgGenerator]
+
     if xrc_parameters.features.use_panda_for_gridscan:
         setup_trigger_plan = _panda_triggering_setup
-        tidy_plan = _panda_tidy
+        tidy_plan = partial(_panda_tidy, xrc_composite)
         set_flyscan_params_plan = partial(
             set_fast_grid_scan_params,
             xrc_composite.panda_fast_grid_scan,
@@ -70,8 +75,14 @@ def construct_hyperion_specific_features(
         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)
+        setup_trigger_plan = setup_zebra_for_gridscan
+        tidy_plan = partial(
+            tidy_up_zebra_after_gridscan,
+            xrc_composite.zebra,
+            xrc_composite.sample_shutter,
+            group="flyscan_zebra_tidy",
+            wait=True,
+        )
         set_flyscan_params_plan = partial(
             set_fast_grid_scan_params,
             xrc_composite.zebra_fast_grid_scan,
@@ -89,40 +100,17 @@ def construct_hyperion_specific_features(
     )
 
 
-def _generic_tidy(
-    xrc_composite: HyperionFlyScanXRayCentreComposite, group, wait=True
-) -> MsgGenerator:
-    LOGGER.info("Tidying up Zebra")
-    yield from tidy_up_zebra_after_gridscan(
-        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(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(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(xrc_composite: HyperionFlyScanXRayCentreComposite):
     group = "panda_flyscan_tidy"
     LOGGER.info("Disabling panda blocks")
     yield from disarm_panda_for_gridscan(xrc_composite.panda, group)
-    yield from _generic_tidy(xrc_composite, group, False)
+    yield from tidy_up_zebra_after_gridscan(
+        xrc_composite.zebra, xrc_composite.sample_shutter, group=group, wait=False
+    )
     yield from bps.wait(group, timeout=10)
     yield from bps.unstage(xrc_composite.panda)
 
 
-def _zebra_triggering_setup(
-    xrc_composite: HyperionFlyScanXRayCentreComposite,
-    parameters: HyperionSpecifiedThreeDGridScan,
-) -> MsgGenerator:
-    yield from setup_zebra_for_gridscan(
-        xrc_composite.zebra, xrc_composite.sample_shutter, wait=True
-    )
-
-
 def _panda_triggering_setup(
     xrc_composite: HyperionFlyScanXRayCentreComposite,
     parameters: HyperionSpecifiedThreeDGridScan,

mx_bluesky/hyperion/experiment_plans/load_centre_collect_full_plan.py

@@ -76,17 +76,29 @@ def load_centre_collect_full(
             flyscan_event_handler,
         )
 
-        locations_to_collect_um: list[np.ndarray] = []
+        locations_to_collect_um: list[np.ndarray]
+        samples_to_collect: list[int]
 
         if flyscan_event_handler.xray_centre_results:
             selection_func = flyscan_result.resolve_selection_fn(
                 parameters.selection_params
             )
             hits = selection_func(flyscan_event_handler.xray_centre_results)
-            locations_to_collect_um = [hit.centre_of_mass_mm * 1000 for hit in hits]
+            hits_to_collect = []
+            for hit in hits:
+                if hit.sample_id is None:
+                    LOGGER.warning(
+                        f"Diffracting centre {hit} not collected because no sample id was assigned."
+                    )
+                else:
+                    hits_to_collect.append(hit)
 
+            locations_to_collect_um = [
+                hit.centre_of_mass_mm * 1000 for hit in hits_to_collect
+            ]
+            samples_to_collect = [hit.sample_id for hit in hits_to_collect]
             LOGGER.info(
-                f"Selected hits {hits} using {selection_func}, args={parameters.selection_params}"
+                f"Selected hits {hits_to_collect} using {selection_func}, args={parameters.selection_params}"
             )
         else:
             # If the xray centring hasn't found a result but has not thrown an error it
@@ -98,6 +110,7 @@ def load_centre_collect_full(
             locations_to_collect_um = [
                 np.array([initial_x_mm, initial_y_mm, initial_z_mm]) * 1000
             ]
+            samples_to_collect = [parameters.sample_id]
 
         multi_rotation = parameters.multi_rotation_scan
         rotation_template = multi_rotation.rotation_scans.copy()
@@ -108,9 +121,11 @@ def load_centre_collect_full(
 
         generator = rotation_scan_generator(is_alternating)
         next(generator)
-        for location in locations_to_collect_um:
+        for location, sample_id in zip(
+            locations_to_collect_um, samples_to_collect, strict=True
+        ):
             for rot in rotation_template:
-                combination = generator.send((rot, location))
+                combination = generator.send((rot, location, sample_id))
                 multi_rotation.rotation_scans.append(combination)
         multi_rotation = RotationScan.model_validate(multi_rotation)
 
@@ -125,8 +140,10 @@ def load_centre_collect_full(
 
 def rotation_scan_generator(
     is_alternating: bool,
-) -> Generator[RotationScanPerSweep, tuple[RotationScanPerSweep, np.ndarray], None]:
-    scan_template, location = yield  # type: ignore
+) -> Generator[
+    RotationScanPerSweep, tuple[RotationScanPerSweep, np.ndarray, int], None
+]:
+    scan_template, location, sample_id = yield  # type: ignore
     next_rotation_direction = scan_template.rotation_direction
     while True:
         scan = scan_template.model_copy()
@@ -135,6 +152,7 @@ def rotation_scan_generator(
             scan.y_start_um,
             scan.z_start_um,
         ) = location
+        scan.sample_id = sample_id
         if is_alternating:
             if next_rotation_direction != scan.rotation_direction:
                 # If originally specified direction of the current scan is different
@@ -146,4 +164,4 @@ def rotation_scan_generator(
                 scan.rotation_direction = next_rotation_direction
             next_rotation_direction = next_rotation_direction.opposite
 
-        scan_template, location = yield scan
+        scan_template, location, sample_id = yield scan

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
@@ -96,7 +96,7 @@ class RobotLoadThenCentreComposite:
     # RobotLoad fields
     robot: BartRobot
     webcam: Webcam
-    lower_gonio: XYZPositioner
+    lower_gonio: XYZStage
     beamstop: Beamstop
 
 

mx_bluesky/hyperion/experiment_plans/rotation_scan_plan.py

@@ -37,16 +37,16 @@ from mx_bluesky.common.device_setup_plans.manipulate_sample import (
 from mx_bluesky.common.device_setup_plans.utils import (
     start_preparing_data_collection_then_do_plan,
 )
+from mx_bluesky.common.experiment_plans.inner_plans.read_hardware import (
+    read_hardware_for_zocalo,
+    standard_read_hardware_during_collection,
+    standard_read_hardware_pre_collection,
+)
 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,
@@ -342,10 +342,15 @@ 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,

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 (