mx-bluesky 1.5.11__tar.gz → 1.5.12__tar.gz

{mx_bluesky-1.5.11 → mx_bluesky-1.5.12}/.github/dependabot.yml

@@ -1,8 +1,3 @@
-# To get started with Dependabot version updates, you'll need to specify which
-# package ecosystems to update and where the package manifests are located.
-# Please see the documentation for all configuration options:
-# https://docs.github.com/github/administering-a-repository/configuration-options-for-dependency-updates
-
 version: 2
 updates:
   - package-ecosystem: "github-actions"
@@ -26,3 +21,6 @@ updates:
           - "*"
     commit-message:
       prefix: "chore"
+    ignore:
+      - dependency-name: "pyright"
+        versions: [ ">=1.1.407" ]  # Until https://github.com/microsoft/pyright/issues/11060 is fixed

{mx_bluesky-1.5.11 → mx_bluesky-1.5.12}/.github/workflows/_container.yml

@@ -28,6 +28,10 @@ jobs:
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
 
+      ################################
+      # Hyperion Container Image Build 
+      ################################
+
       - name: Build and export to Docker local cache
         uses: docker/build-push-action@v6
         env:
@@ -37,15 +41,6 @@ jobs:
           file: Dockerfile.hyperion
           load: true
 
-      - name: Build and export Dockerfile.blueapi to local cache
-        uses: docker/build-push-action@v6
-        env:
-          DOCKER_BUILD_RECORD_UPLOAD: false
-        with:
-          context: .
-          file: Dockerfile.blueapi
-          load: true
-
       - name: Create tags for publishing Hyperion image
         id: meta-hyperion
         uses: docker/metadata-action@v5
@@ -62,22 +57,6 @@ jobs:
             type=ref,event=tag
             type=raw,value=latest
 
-      - name: Create tags for publishing BlueAPI image
-        id: meta-blueapi
-        uses: docker/metadata-action@v5
-        with:
-          images: |
-            ghcr.io/${{ github.repository }}-blueapi
-          labels: |
-            org.opencontainers.image.title=mx-bluesky-blueapi
-            org.opencontainers.image.description=BlueAPI plans, stubs and utilities for MX beamlines
-          annotations: |
-            org.opencontainers.image.title=mx-bluesky-blueapi
-            org.opencontainers.image.description=BlueAPI plans, stubs and utilities for MX beamlines
-          tags: |
-            type=ref,event=tag
-            type=raw,value=latest
-
       - name: Push cached Hyperion image to container registry
         if: inputs.publish && github.ref_type == 'tag'
         uses: docker/build-push-action@v6
@@ -94,6 +73,45 @@ jobs:
           # Set the annotations to make the description appear in the GH repo page
           annotations: ${{ steps.meta-hyperion.outputs.annotations }}
 
+      - name: Check disk space before
+        run: df  -h && docker buildx du
+
+      - name: Prune local image cache before next build
+        run: docker buildx prune -f
+
+      - name: Check disk space after
+        run: df  -h && docker buildx du
+
+      ###############################
+      # BlueAPI Container Image Build
+      ###############################
+
+      - name: Build and export Dockerfile.blueapi to local cache
+        uses: docker/build-push-action@v6
+        env:
+          DOCKER_BUILD_RECORD_UPLOAD: false
+        with:
+          context: .
+          file: Dockerfile.blueapi
+          load: true
+
+
+      - name: Create tags for publishing BlueAPI image
+        id: meta-blueapi
+        uses: docker/metadata-action@v5
+        with:
+          images: |
+            ghcr.io/${{ github.repository }}-blueapi
+          labels: |
+            org.opencontainers.image.title=mx-bluesky-blueapi
+            org.opencontainers.image.description=BlueAPI plans, stubs and utilities for MX beamlines
+          annotations: |
+            org.opencontainers.image.title=mx-bluesky-blueapi
+            org.opencontainers.image.description=BlueAPI plans, stubs and utilities for MX beamlines
+          tags: |
+            type=ref,event=tag
+            type=raw,value=latest
+
       - name: Push cached BlueAPI image to container registry
         if: github.ref_type == 'tag'
         uses: docker/build-push-action@v6

{mx_bluesky-1.5.11 → mx_bluesky-1.5.12}/.vscode/settings.json

@@ -26,8 +26,12 @@
     "python.analysis.typeCheckingMode": "basic",
     "cSpell.words": [
         "aperturescatterguard",
+        "beamline",
+        "beamlines",
+        "beamsize",
         "beamstop",
         "blueapi",
+        "caget",
         "cryostream",
         "deadtime",
         "dodal",
@@ -40,19 +44,16 @@
         "mrad",
         "murko",
         "ophyd",
+        "pmac",
         "readback",
         "scanspec",
         "scatterguard",
         "smargon",
+        "thawer",
         "topup",
         "Transfocator",
         "undulator",
         "xbpm",
-        "xspress",
-        "pmac",
-        "beamlines",
-        "caget",
-        "thawer",
-        "beamline",
+        "xspress"
     ],
 }

{mx_bluesky-1.5.11 → mx_bluesky-1.5.12}/Dockerfile.blueapi

@@ -5,11 +5,13 @@ FROM ghcr.io/diamondlightsource/blueapi:1.0.0-rc.2
 
 ARG DEBIAN_FRONTEND=noninteractive
 
-RUN apt update -y && apt upgrade -y
-# Needed for python cv2 dependency
-RUN apt install -y libgl1 libglib2.0-0
+# Need:
+# libgl, libglib2.0 for python cv2 dependency 
+RUN apt update -y && \
+    apt upgrade -y && \
+    apt install -y libgl1 libglib2.0-0
 
-RUN /venv/bin/pip install mx-bluesky
+RUN /venv/bin/pip install --no-cache-dir --no-compile mx-bluesky
 
 # Needed so that Blueapi's setup-scratch stage has permission to modify dependencies installed 
 # in the above pip installation

{mx_bluesky-1.5.11 → mx_bluesky-1.5.12}/Dockerfile.hyperion

@@ -2,11 +2,13 @@ FROM python:3.11 AS build
 
 ARG DEBIAN_FRONTEND=noninteractive
 
-RUN apt update -y && apt upgrade -y
-# Needed for python cv2 dependency
-RUN apt install -y libgl1 libglib2.0-0
+# Need:
+# libgl, libglib2.0 for python cv2 dependency
+RUN apt update -y && \
+    apt upgrade -y && \
+    apt install -y libgl1 libglib2.0-0
 
-RUN pip install setuptools_scm
+RUN pip install --no-cache-dir --no-compile setuptools_scm
 
 # Copy the pyproject.toml and install dependencies for better caching when developing
 # & rerunning deployment scripts

{mx_bluesky-1.5.11 → mx_bluesky-1.5.12}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: mx-bluesky
-Version: 1.5.11
+Version: 1.5.12
 Summary: Bluesky tools for MX Beamlines at DLS
 Author-email: Dominic Oram <dominic.oram@diamond.ac.uk>
 License:                                  Apache License
@@ -218,11 +218,10 @@ Requires-Dist: annotated_types
 Requires-Dist: caproto
 Requires-Dist: fastapi[all]
 Requires-Dist: flask-restful
-Requires-Dist: ispyb
 Requires-Dist: jupyterlab
 Requires-Dist: matplotlib
 Requires-Dist: nexgen>=0.11.0
-Requires-Dist: numpy==2.2.6
+Requires-Dist: numpy>=2.3.5
 Requires-Dist: opencv-python
 Requires-Dist: opentelemetry-distro
 Requires-Dist: opentelemetry-exporter-otlp
@@ -240,15 +239,16 @@ Requires-Dist: cachetools
 Requires-Dist: daq-config-server>=v1.0.0-rc.2
 Requires-Dist: blueapi>=1.6.3
 Requires-Dist: ophyd>=1.10.5
-Requires-Dist: ophyd-async>=0.13.5
+Requires-Dist: ophyd-async>=0.14.0
 Requires-Dist: bluesky>=1.14.6
-Requires-Dist: dls-dodal==1.65.0
+Requires-Dist: dls-dodal==1.66.0
 Provides-Extra: dev
 Requires-Dist: black; extra == "dev"
 Requires-Dist: build; extra == "dev"
 Requires-Dist: diff-cover; extra == "dev"
 Requires-Dist: GitPython; extra == "dev"
 Requires-Dist: import-linter; extra == "dev"
+Requires-Dist: ispyb; extra == "dev"
 Requires-Dist: ipython; extra == "dev"
 Requires-Dist: mypy; extra == "dev"
 Requires-Dist: myst-parser; extra == "dev"
@@ -262,6 +262,7 @@ Requires-Dist: pytest-cov; extra == "dev"
 Requires-Dist: pytest-random-order; extra == "dev"
 Requires-Dist: pytest-timeout; extra == "dev"
 Requires-Dist: pytest; extra == "dev"
+Requires-Dist: responses; extra == "dev"
 Requires-Dist: ruff; extra == "dev"
 Requires-Dist: sphinx-autobuild; extra == "dev"
 Requires-Dist: sphinx-copybutton; extra == "dev"

{mx_bluesky-1.5.11 → mx_bluesky-1.5.12}/conftest.py

@@ -7,6 +7,9 @@ import pytest
 environ["HYPERION_TEST_MODE"] = "true"
 
 
+pytest_plugins = ["dodal.testing.fixtures.run_engine"]
+
+
 def pytest_addoption(parser):
     parser.addoption(
         "--logging",

{mx_bluesky-1.5.11 → mx_bluesky-1.5.12}/docs/developer/general/explanations/callback_and_run_logic.rst

@@ -16,11 +16,9 @@ In general, the ordering flow of when callbacks are triggered is controlled by e
 Rotation Scans
 ---------------------
 
-There are currently two ways of doing rotation scans. A single scan creates one hdf file, one ispyb deposition and then triggers zocalo once. Multi rotation scans create one hdf file for all rotations but then N nexus files, N ispyb depositions and triggers zocalo N times.
+Rotation scans are generalised so that multiple scans can be done at once. The plan will create one hdf file for all rotations but then N nexus files, N ispyb depositions and triggers zocalo N times.
 
-Single scans will be removed in https://github.com/DiamondLightSource/mx-bluesky/issues/847
-
-For multi rotations this is does by starting 1+2*N different runs:
+It does this by starting 1+2*N different runs:
 
 1. ``CONST.PLAN.ROTATION_MULTI``: This is emitted once for the whole multiple rotation. It is used by the nexus callback to get the full number of images and meta_data_run_number so that it knows which hdf file to use. When this is finished zocalo end is triggered.
 2. ``CONST.PLAN.ROTATION_OUTER``: Emitted N times, inside a ``CONST.PLAN.ROTATION_MULTI`` run. This is used to create the initial ispyb deposition and create the nexus writer (but not actually write the file)

{mx_bluesky-1.5.11 → mx_bluesky-1.5.12}/docs/developer/general/how-to/create-a-release.rst

@@ -9,8 +9,8 @@ Make sure that dodal has an up-to-date release. If not, create one (see `dodal r
 Release
 =======
 
-1. Create a new branch from main named pre followed by the release version e.g. pre_v0.1.0. The release versions should look like ``v{major}.{minor}.{patch}``.
-2. On this branch pin the up-to-date version of dodal and the latest release of nexgen if necessary, then push to GitHub.
+1. Create a new branch from main named pre followed by the release version e.g. pre_0.1.0. The release versions should look like ``{major}.{minor}.{patch}``.
+2. On this branch pin the latest release of dodal, and nexgen if necessary, then push to GitHub. (e.g "dls-dodal == 1.63.0")
 3. Make sure the CI is passing for this new pre-release branch.
 4. Go `here <https://github.com/DiamondLightSource/mx-bluesky/releases/new>`_.
 5. Select Choose a new tag and type the version of the release, then select the branch created in step 1 as the target.
@@ -19,6 +19,7 @@ Release
 8. Publish the release
 
 NOTE FOR USING THE MX-BLUESKY-BLUEAPI IMAGE: If using this image with BlueAPI's helmchart for deployment, the version of dodal which is installed will be the version which is pinned in the BlueAPI, rather than what's in mx-bluesky's pyproject.toml. Before releasing, you should pin BlueAPI to a version which uses a dodal version which is compatible with itself AND mx-bluesky. The deployment will fail if BlueAPI has no version which works with the desired dodal version
+Follow these :ref:`instructions <deploying-to-i04-blueapi>` on how to deploy to I04 BlueAPI.
 
 ------------------------
 Deciding release numbers

{mx_bluesky-1.5.11 → mx_bluesky-1.5.12}/docs/developer/general/how-to/deploy-a-release.rst

@@ -3,7 +3,7 @@ Deploy a New Release
 
 **Remember to discuss any new deployments with the appropriate beamline scientist.**
 
-The ``utility_scripts/deploy/deploy_mx_bluesky.py`` script will deploy the latest mx-bluesky version to a specified beamline. Deployments live in ``/dls_sw/ixx/software/bluesky/mx-bluesky_vX.X.X``. To do a new deployment you should run the deploy script from your mx-bluesky dev environment with e.g.
+The ``utility_scripts/deploy/deploy_mx_bluesky.py`` script will deploy the latest mx-bluesky version to a specified beamline. Deployments live in ``/dls_sw/ixx/software/bluesky/mx-bluesky_X.X.X``. To do a new deployment you should run the deploy script from your mx-bluesky dev environment with e.g.
 If you have just created a new release, you may need to run git fetch --tags to get the newest release.
 
 .. code:: console
@@ -56,3 +56,14 @@ For building and deploying a Docker image please see :doc:`../../hyperion/deploy
         . ./.venv/bin/activate
         pip install -e .
         pip install -e ../dodal
+
+.. _deploying-to-i04-blueapi:
+
+Deploying to I04 BlueAPI
+------------------------
+
+To deploy to I04 BlueAPI, update the Chart.yaml and values.yaml in the i04-services repository to match the release version. It's a good idea to bump BlueAPI to the latest version too.
+
+Look at this `example <https://gitlab.diamond.ac.uk/controls/containers/beamline/i04-services/-/commit/f0ea7432ae996834001bbe50a07ba86d23534749>`_ as a guide. Note that mx-bluesky has recently dropped the ``v`` from it's version numbers.
+
+Once this change has been merged into main and the CI has completed successfully, press synchronise on the I04 ArgoCD page. This will update the version deployed in Kubernetes.

{mx_bluesky-1.5.11 → mx_bluesky-1.5.12}/docs/user/hyperion/configuration.rst

@@ -28,6 +28,9 @@ Note that making a change to these properties generally requires a restart of th
     "gda.mx.hyperion.xrc.use_gpu_results", "boolean", "If true, then zocalo gridscan processing uses the GPU results"
     "gda.mx.hyperion.xrc.use_roi_mode", "boolean", "If true then ROI mode is used."
     "gda.mx.udc.hyperion.enable", "boolean",  "Enables Hyperion UDC mode."
+    "gda.mx.hyperion.enable_beamstop_diode_check", "boolean", "If true, enables an extended beamstop position check
+ during UDC default state script measuring the diode current out-of and in beam. Otherwise the beamstop position is
+ moved to the data collection position."
 
 Beamline configuration/calibration files
 ========================================

{mx_bluesky-1.5.11 → mx_bluesky-1.5.12}/pyproject.toml

@@ -21,11 +21,10 @@ dependencies = [
     "caproto",
     "fastapi[all]",
     "flask-restful",
-    "ispyb",
     "jupyterlab",
     "matplotlib",
     "nexgen >= 0.11.0",
-    "numpy == 2.2.6",                 # See https://github.com/DiamondLightSource/mx-bluesky/issues/1119
+    "numpy >= 2.3.5",
     "opencv-python",                  # Needed for I24 ssx moveonclick. To be changed to headless once this is moved to separate ui.
     "opentelemetry-distro",
     "opentelemetry-exporter-otlp",
@@ -47,9 +46,9 @@ dependencies = [
     "daq-config-server>=v1.0.0-rc.2",
     "blueapi >= 1.6.3",
     "ophyd >= 1.10.5",
-    "ophyd-async >= 0.13.5",
+    "ophyd-async >= 0.14.0",
     "bluesky >= 1.14.6",
-    "dls-dodal == 1.65.0",
+    "dls-dodal == 1.66.0",
 ]
 
 
@@ -67,6 +66,7 @@ dev = [
     "diff-cover",
     "GitPython",
     "import-linter",
+    "ispyb",
     "ipython",
     "mypy",
     "myst-parser",
@@ -75,12 +75,13 @@ dev = [
     "pre-commit",
     "pydata-sphinx-theme>=0.12",
     # Pin to previous pyright until https://github.com/microsoft/pyright/issues/11060 is fixed
-    "pyright==1.1.406", 
+    "pyright==1.1.406",
     "pytest-asyncio",
     "pytest-cov",
     "pytest-random-order",
     "pytest-timeout",
     "pytest",
+    "responses",
     "ruff",
     "sphinx-autobuild",
     "sphinx-copybutton",
@@ -112,7 +113,6 @@ version_file = "src/mx_bluesky/_version.py"
 
 [tool.pyright]
 typeCheckingMode = "strict"
-# Issue to remove some of these exceptions: https://github.com/DiamondLightSource/mx-bluesky/issues/1403
 reportMissingTypeStubs = false
 reportUnknownMemberType = false
 reportUnknownLambdaType = false
@@ -123,12 +123,8 @@ reportMissingTypeArgument = false
 reportPrivateUsage = false
 reportUnknownVariableType = false
 reportUnusedVariable = false
-reportUnusedFunction = false
 reportArgumentType = false
-reportUnnecessaryComparison = false
-reportUnnecessaryCast = false
 reportMatchNotExhaustive = false
-reportUnnecessaryIsInstance = false
 
 
 [tool.pytest.ini_options]
@@ -155,13 +151,8 @@ filterwarnings = [
     "ignore:(.*)unclosed file(.*)name='(.*)dodal.log'(.*):ResourceWarning",
     "ignore:(.*)unclosed <socket(.*):ResourceWarning",
     "ignore:(.*)unclosed event loop(.*):ResourceWarning",
-    # Ignore deprecation warning from python-workflows https://github.com/DiamondLightSource/python-workflows/issues/180
-    "ignore:.*pkg_resources.*:DeprecationWarning",
     # Ignore warning about deprecated throw() call https://github.com/bluesky/bluesky/issues/1817
     "ignore:.*signature of throw\\(\\) is deprecated.*:DeprecationWarning",
-    # Ignore warning about deprecations in python-workflows encountered during system tests
-    # https://github.com/DiamondLightSource/python-workflows/issues/188
-    "ignore:.*`Field` should not be instantiated.*:marshmallow.warnings.ChangedInMarshmallow4Warning",
     #Remove when we drop python 3.11
     "ignore:.*__contains__ will no longer raise TypeError.*:DeprecationWarning",
     # epicscorelibs requires setuptools >= 70.1
@@ -221,7 +212,7 @@ setenv =
     ISPYB_CONFIG_PATH={toxinidir}/tests/test_data/ispyb-test-credentials.cfg
     ZOCALO_CONFIG={toxinidir}/tests/test_data/zocalo-test-configuration.yaml
 commands =
-    pytest -m system_test --timeout=60 tests/system_tests
+    pytest -m system_test --timeout=60 tests/system_tests {posargs}
 """
 
 [tool.ruff]

{mx_bluesky-1.5.11 → mx_bluesky-1.5.12}/src/mx_bluesky/_version.py

@@ -28,7 +28,7 @@ version_tuple: VERSION_TUPLE
 commit_id: COMMIT_ID
 __commit_id__: COMMIT_ID
 
-__version__ = version = '1.5.11'
-__version_tuple__ = version_tuple = (1, 5, 11)
+__version__ = version = '1.5.12'
+__version_tuple__ = version_tuple = (1, 5, 12)
 
-__commit_id__ = commit_id = 'ge95f07917'
+__commit_id__ = commit_id = 'ge66bd29e0'

mx_bluesky-1.5.12/src/mx_bluesky/beamlines/aithre_lasershaping/experiment_plans/robot_load_plan.py

@@ -0,0 +1,198 @@
+from __future__ import annotations
+
+from datetime import datetime
+from pathlib import Path
+
+import bluesky.plan_stubs as bps
+import bluesky.preprocessors as bpp
+import pydantic
+from dodal.devices.motors import XYZOmegaStage, 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
+
+from mx_bluesky.beamlines.aithre_lasershaping.parameters.constants import CONST
+from mx_bluesky.beamlines.aithre_lasershaping.parameters.robot_load_parameters import (
+    AithreRobotLoad,
+)
+from mx_bluesky.common.device_setup_plans.robot_load_unload import (
+    do_plan_while_lower_gonio_at_home,
+)
+from mx_bluesky.common.experiment_plans.pin_tip_centring_plan import (
+    PinTipCentringComposite,
+    pin_tip_centre_plan,
+)
+from mx_bluesky.common.parameters.constants import (
+    DocDescriptorNames,
+    PlanNameConstants,
+)
+
+
+@pydantic.dataclasses.dataclass(config={"arbitrary_types_allowed": True})
+class RobotLoadComposite:
+    # RobotLoad fields
+    robot: BartRobot
+    lower_gonio: XYZStage
+    oav: OAV
+    gonio: XYZOmegaStage
+
+
+def _move_gonio_to_home_position(
+    composite: RobotLoadComposite,
+    x_home: float = 0.0,
+    y_home: float = 0.0,
+    z_home: float = 0.0,
+    omega_home: float = 0.0,
+    group: str = "group",
+):
+    """
+    Move Gonio to home position, default is zero
+    """
+    yield from bps.abs_set(composite.gonio.omega, omega_home, group=group)
+    yield from bps.abs_set(composite.gonio.x, x_home, group=group)
+    yield from bps.abs_set(composite.gonio.y, y_home, group=group)
+    yield from bps.abs_set(composite.gonio.z, z_home, group=group)
+
+    yield from bps.wait(group=group)
+
+
+def _take_robot_snapshots(oav: OAV, directory: Path):
+    time_now = datetime.now()
+    snapshot_format = f"{time_now.strftime('%H%M%S')}_{{device}}_after_load"
+    for device in [oav.snapshot]:
+        yield from bps.abs_set(
+            device.filename, snapshot_format.format(device=device.name)
+        )
+        yield from bps.abs_set(device.directory, str(directory))
+        # Note: should be able to use `wait=True` after https://github.com/bluesky/bluesky/issues/1795
+        yield from bps.trigger(device, group="snapshots")
+        yield from bps.wait("snapshots")
+
+
+def _do_robot_load_and_centre(
+    composite: RobotLoadComposite,
+    sample_location: SampleLocation,
+    sample_id: int,
+    pin_tip_detection: PinTipDetection,
+    tip_offset_microns: float = 0,
+    oav_config_file: str = CONST.OAV_CENTRING_FILE,
+):
+    yield from bps.abs_set(composite.robot.next_sample_id, sample_id, wait=True)
+    yield from bps.abs_set(
+        composite.robot,
+        sample_location,
+        group="robot_load",
+    )
+
+    yield from _move_gonio_to_home_position(composite=composite, group="robot_load")
+
+    yield from bps.wait(group="robot_load")
+
+    pin_tip_centring_composite = PinTipCentringComposite(
+        composite.oav, composite.gonio, pin_tip_detection
+    )
+    yield from pin_tip_centre_plan(
+        pin_tip_centring_composite, tip_offset_microns, oav_config_file
+    )
+
+
+def _robot_load_and_snapshots(
+    composite: RobotLoadComposite,
+    location: SampleLocation,
+    snapshot_directory: Path,
+    sample_id: int,
+    pin_tip_detection: PinTipDetection,
+    tip_offset_microns: float = 0,
+    oav_config_file: str = CONST.OAV_CENTRING_FILE,
+):
+    yield from bps.create(name=DocDescriptorNames.ROBOT_PRE_LOAD)
+    yield from bps.read(composite.robot)
+    yield from bps.save()
+
+    robot_load_plan = _do_robot_load_and_centre(
+        composite,
+        location,
+        sample_id,
+        pin_tip_detection,
+        tip_offset_microns,
+        oav_config_file,
+    )
+
+    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, snapshot_directory)
+
+    yield from bps.create(name=DocDescriptorNames.ROBOT_UPDATE)
+    yield from bps.read(composite.robot)
+    yield from bps.read(composite.oav.snapshot)
+    yield from bps.save()
+
+    yield from bps.wait(gonio_finished)
+
+
+def robot_load_and_snapshots_plan(
+    composite: RobotLoadComposite,
+    params: AithreRobotLoad,
+    ptd: PinTipDetection,
+    tip_offset_microns: float = 0,
+    oav_config_file: str = CONST.OAV_CENTRING_FILE,
+):
+    assert params.sample_puck is not None
+    assert params.sample_pin is not None
+
+    sample_location = SampleLocation(params.sample_puck, params.sample_pin)
+
+    yield from _move_gonio_to_home_position(composite)
+
+    yield from bpp.set_run_key_wrapper(
+        bpp.run_wrapper(
+            _robot_load_and_snapshots(
+                composite,
+                sample_location,
+                params.snapshot_directory,
+                params.sample_id,
+                ptd,
+                tip_offset_microns,
+                oav_config_file,
+            ),
+            md={
+                "subplan_name": PlanNameConstants.ROBOT_LOAD,
+                "metadata": {"visit": params.visit, "sample_id": params.sample_id},
+                "activate_callbacks": [
+                    "RobotLoadISPyBCallback",
+                ],
+            },
+        ),
+        PlanNameConstants.ROBOT_LOAD_AND_SNAPSHOTS,
+    )
+
+
+def robot_unload_plan(
+    composite: RobotLoadComposite,
+    params: AithreRobotLoad,
+):
+    @bpp.run_decorator(
+        md={
+            "subplan_name": PlanNameConstants.ROBOT_UNLOAD,
+            "metadata": {"visit": params.visit, "sample_id": params.sample_id},
+            "activate_callbacks": [
+                "RobotLoadISPyBCallback",
+            ],
+        },
+    )
+    def do_robot_unload_and_send_to_ispyb():
+        yield from _take_robot_snapshots(composite.oav, params.snapshot_directory)
+        yield from bps.wait(group="snapshot")
+        yield from _move_gonio_to_home_position(composite)
+
+        yield from bps.abs_set(composite.robot, None, wait=True)
+
+        yield from bps.create(name=DocDescriptorNames.ROBOT_UPDATE)
+        yield from bps.read(composite.robot)
+        yield from bps.read(composite.oav.snapshot)
+        yield from bps.save()
+
+    yield from do_robot_unload_and_send_to_ispyb()

mx_bluesky-1.5.12/src/mx_bluesky/beamlines/aithre_lasershaping/parameters/constants.py

@@ -0,0 +1,17 @@
+import os
+
+from pydantic.dataclasses import dataclass
+
+TEST_MODE = os.environ.get("AITHRE_TEST_MODE")
+
+
+@dataclass(frozen=True)
+class AithreConstants:
+    BEAMLINE = "aithre"
+    OAV_CENTRING_FILE = (
+        "/dls/science/groups/i23/aithre/daq_configuration/json/OAVCentring_aithre.json"
+    )
+    LOG_FILE_NAME = "aithre.log"
+
+
+CONST = AithreConstants()

mx_bluesky-1.5.12/src/mx_bluesky/beamlines/aithre_lasershaping/parameters/robot_load_parameters.py

@@ -0,0 +1,13 @@
+from mx_bluesky.common.parameters.components import (
+    WithSample,
+    WithSnapshot,
+    WithVisit,
+)
+
+
+class AithreRobotLoad(
+    WithSample,
+    WithSnapshot,
+    WithVisit,
+):
+    pass