mx-bluesky 1.5.4__py3-none-any.whl → 1.5.6__py3-none-any.whl

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

@@ -24,7 +24,7 @@ from mx_bluesky.beamlines.i24.serial.log import SSX_LOGGER
 
 # Detector specific outs
 TTL_EIGER = 1
-TTL_PILATUS = 2
+TTL_LASER = 2
 TTL_FAST_SHUTTER = 4
 
 SHUTTER_MODE = {
@@ -171,12 +171,11 @@ def setup_zebra_for_extruder_with_pump_probe_plan(
 
     For this use case, both the laser and detector set up is taken care of by the Zebra.
     WARNING. This means that some hardware changes have been made.
-    Because all four of the zebra ttl outputs are in use in this mode, when the \
-    detector in use is the Eiger, the Pilatus cable is repurposed to trigger the light \
-    source, and viceversa.
+    All four of the zebra ttl outputs are in use in this mode. When the \
+    detector in use is the Eiger, the previous Pilatus cable is repurposed to trigger \
+    the light source.
 
-    The data collection output is OUT1_TTL for Eiger and OUT2_TTL for Pilatus and \
-    should be set to AND3.
+    The data collection output is OUT1_TTL for Eiger and should be set to AND3.
 
     Position compare settings:
         - The gate input is on SOFT_IN2.
@@ -191,7 +190,7 @@ def setup_zebra_for_extruder_with_pump_probe_plan(
 
     Args:
         zebra (Zebra): The zebra ophyd device.
-        det_type (str): Detector in use, current choices are Eiger or Pilatus.
+        det_type (str): Detector in use.
         exp_time (float): Collection exposure time, in s.
         num_images (int): Number of images to be collected.
         pump_exp (float): Laser dwell, in s.
@@ -210,8 +209,8 @@ def setup_zebra_for_extruder_with_pump_probe_plan(
     yield from set_logic_gates_for_porto_triggering(zebra)
 
     # Set TTL out depending on detector type
-    DET_TTL = TTL_EIGER if det_type == "eiger" else TTL_PILATUS
-    LASER_TTL = TTL_PILATUS if det_type == "eiger" else TTL_EIGER
+    DET_TTL = TTL_EIGER
+    LASER_TTL = TTL_LASER  # may change with additional detectors
     yield from bps.abs_set(
         zebra.output.out_pvs[DET_TTL], zebra.mapping.sources.AND4, group=group
     )
@@ -281,8 +280,7 @@ def setup_zebra_for_fastchip_plan(
 
     For this use case, the laser set up is taken care of by the geobrick, leaving only \
     the detector side set up to the Zebra.
-    The data collection output is OUT1_TTL for Eiger and OUT2_TTL for Pilatus and \
-    should be set to AND3.
+    The data collection output is OUT1_TTL for Eiger and should be set to AND3.
 
     Position compare settings:
         - The gate input is on IN3_TTL.
@@ -291,16 +289,14 @@ def setup_zebra_for_fastchip_plan(
         - Trigger source set to the exposure time with a 100us buffer in order to \
             avoid missing any triggers.
         - The trigger width is calculated depending on which detector is in use: the \
-            Pilatus only needs the trigger rising edge to collect for a set time, while \
-            the Eiger (used here in Externally Interrupter Exposure Series mode) \
+            Eiger (used here in Externally Interrupter Exposure Series mode) \
             will only collect while the signal is high and will stop once a falling \
             edge is detected. For this reason a square wave pulse width will be set to \
-            half the exposure time in the Pilatus case, and to the exposure time minus \
-            a small drop (~100um) for the Eiger.
+            the exposure time minus a small drop (~100um) for the Eiger.
 
     Args:
         zebra (Zebra): The zebra ophyd device.
-        det_type (str): Detector in use, current choices are Eiger or Pilatus.
+        det_type (str): Detector in use.
         num_gates (int): Number of apertures to visit in a chip.
         num_exposures (int): Number of times data is collected in each aperture.
         exposure_time_s (float): Exposure time for each shot.
@@ -335,10 +331,6 @@ def setup_zebra_for_fastchip_plan(
         yield from bps.abs_set(
             zebra.output.out_pvs[TTL_EIGER], zebra.mapping.sources.AND3, group=group
         )
-    if det_type == "pilatus":
-        yield from bps.abs_set(
-            zebra.output.out_pvs[TTL_PILATUS], zebra.mapping.sources.AND3, group=group
-        )
 
     # Square wave - needs a small drop to make it work for eiger
     pulse_width = (

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

@@ -13,7 +13,6 @@ 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.focus_mirrors import FocusMirrorsMode
-from dodal.devices.i24.pilatus_metadata import PilatusMetadata
 from dodal.devices.i24.pmac import PMAC
 from dodal.devices.motors import YZStage
 from dodal.devices.oav.oav_detector import OAVBeamCentreFile
@@ -39,14 +38,13 @@ 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,
 )
 from mx_bluesky.beamlines.i24.serial.parameters.utils import EmptyMapError
 from mx_bluesky.beamlines.i24.serial.setup_beamline import pv
 from mx_bluesky.beamlines.i24.serial.setup_beamline.ca import caput
-from mx_bluesky.beamlines.i24.serial.setup_beamline.pv_abstract import Eiger, Pilatus
+from mx_bluesky.beamlines.i24.serial.setup_beamline.pv_abstract import Eiger
 from mx_bluesky.beamlines.i24.serial.setup_beamline.setup_detector import (
     _move_detector_stage,
     get_detector_type,
@@ -103,10 +101,10 @@ def gui_sleep(sec: int) -> MsgGenerator:
 
 @bpp.run_decorator()
 def gui_move_detector(
-    det: Literal["eiger", "pilatus"],
+    det: Literal["eiger"],
     detector_stage: YZStage = inject("detector_motion"),
 ) -> MsgGenerator:
-    det_y_target = Eiger.det_y_target if det == "eiger" else Pilatus.det_y_target
+    det_y_target = Eiger.det_y_target
     yield from _move_detector_stage(detector_stage, det_y_target)
     # Make the output readable
     SSX_LOGGER.debug(f"Detector move done, resetting general PV to {det}")
@@ -138,9 +136,7 @@ def gui_run_chip_collection(
     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.
 
@@ -210,11 +206,7 @@ def gui_run_chip_collection(
     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
-    )
+    beam_center_device = beam_center_eiger
     SSX_LOGGER.info("Beam center device ready")
 
     # DCID instance - do not create yet
@@ -234,5 +226,4 @@ def gui_run_chip_collection(
         beam_center_device,
         parameters,
         dcid,
-        pilatus_metadata,
     )

mx_bluesky/beamlines/i24/serial/write_nexus.py

@@ -35,8 +35,9 @@ def call_nexgen(
         start_time (datetime): Collection start time.
 
     Raises:
-        ValueError: For a wrong experiment type passed (either unknwon or not matched \
+        ValueError: For a wrong experiment type passed (either unknown or not matched \
             to parameter model).
+        HTTPError: For a problem with reponse from server
 
     """
     current_chip_map = None
@@ -75,10 +76,6 @@ def call_nexgen(
         f"Call to nexgen server with the following chip definition: \n{chip_prog_dict}"
     )
 
-    access_token = pathlib.Path("/scratch/ssx_nexgen.key").read_text().strip()
-    url = "https://ssx-nexgen.diamond.ac.uk/ssx_eiger/write"
-    headers = {"Authorization": f"Bearer {access_token}"}
-
     payload = {
         "beamline": "i24",
         "beam_center": beam_center_in_pix,
@@ -98,8 +95,36 @@ def call_nexgen(
         "bit_depth": bit_depth,
         "start_time": start_time.isoformat(),
     }
-    SSX_LOGGER.info(f"Sending POST request to {url} with payload:")
-    SSX_LOGGER.info(pprint.pformat(payload))
-    response = requests.post(url, headers=headers, json=payload)
-    response.raise_for_status()
+    submit_to_server(payload)
+
+
+def submit_to_server(
+    payload: dict | None,
+):
+    """Submit the payload to nexgen-server.
+
+    Args:
+        payload (dict): Dictionary of parameters to send to nex-gen server
+
+    Raises:
+        ValueError: For a wrong experiment type passed (either unknown or not matched \
+            to parameter model).
+        HTTPError: For a problem with reponse from server
+
+    """
+    access_token = pathlib.Path("/scratch/ssx_nexgen.key").read_text().strip()
+    url = "https://ssx-nexgen.diamond.ac.uk/ssx_eiger/write"
+    headers = {"Authorization": f"Bearer {access_token}"}
+
+    try:
+        SSX_LOGGER.info(f"Sending POST request to {url} with payload:")
+        SSX_LOGGER.info(pprint.pformat(payload))
+        response = requests.post(url, headers=headers, json=payload)
+        response.raise_for_status()
+    except requests.HTTPError as e:
+        SSX_LOGGER.error(f"Nexus writer failed. Reason from server {e}")
+        raise
+    except Exception as e:
+        SSX_LOGGER.exception(f"Error generating nexus file: {e}")
+        raise
     SSX_LOGGER.info(f"Response: {response.text} (status code: {response.status_code})")

mx_bluesky/common/experiment_plans/common_flyscan_xray_centre_plan.py

@@ -9,6 +9,7 @@ import bluesky.preprocessors as bpp
 import numpy as np
 from bluesky.protocols import Readable
 from bluesky.utils import MsgGenerator
+from dodal.common.beamlines.commissioning_mode import read_commissioning_mode
 from dodal.devices.fast_grid_scan import (
     FastGridScanCommon,
 )
@@ -226,11 +227,33 @@ def _fetch_xrc_results_from_zocalo(
             for xr in filtered_results
         ]
     else:
-        LOGGER.warning("No X-ray centre received")
-        raise CrystalNotFoundException()
+        commissioning_mode = yield from read_commissioning_mode()
+        if commissioning_mode:
+            LOGGER.info("Commissioning mode enabled, returning dummy result")
+            flyscan_results = [_generate_dummy_xrc_result(parameters)]
+        else:
+            LOGGER.warning("No X-ray centre received")
+            raise CrystalNotFoundException()
     yield from _fire_xray_centre_result_event(flyscan_results)
 
 
+def _generate_dummy_xrc_result(params: SpecifiedThreeDGridScan) -> XRayCentreResult:
+    com = [params.x_steps / 2, params.y_steps / 2, params.z_steps / 2]
+    max_voxel = [round(p) for p in com]
+    return _xrc_result_in_boxes_to_result_in_mm(
+        XrcResult(
+            centre_of_mass=com,
+            max_voxel=max_voxel,
+            bounding_box=[max_voxel, [p + 1 for p in max_voxel]],
+            n_voxels=1,
+            max_count=10000,
+            total_count=100000,
+            sample_id=params.sample_id,
+        ),
+        params,
+    )
+
+
 @bpp.set_run_key_decorator(PlanNameConstants.GRIDSCAN_MAIN)
 @bpp.run_decorator(md={"subplan_name": PlanNameConstants.GRIDSCAN_MAIN})
 def run_gridscan(

mx_bluesky/common/external_interaction/callbacks/common/ispyb_callback_base.py

@@ -186,7 +186,7 @@ class BaseISPyBCallback(PlanReactiveCallback):
         pass
 
     def activity_gated_stop(self, doc: RunStop) -> RunStop:
-        """Subclasses must check that they are recieving a stop document for the correct
+        """Subclasses must check that they are receiving a stop document for the correct
         uid to use this method!"""
         assert self.ispyb is not None, (
             "ISPyB handler received stop document, but deposition object doesn't exist!"

mx_bluesky/common/external_interaction/callbacks/common/plan_reactive_callback.py

@@ -24,8 +24,8 @@ class PlanReactiveCallback(CallbackBase):
         metadata to trigger this.
         The run_decorator of the plan should include in its metadata dictionary the key
         'activate callbacks', with a list of strings of the callback class(es) to
-        activate or deactivate. On a recieving a start doc which specifies this, this
-        class will be activated, and on recieving the stop document for the
+        activate or deactivate. On a receiving a start doc which specifies this, this
+        class will be activated, and on receiving the stop document for the
         corresponding uid it will deactivate. The ordinary 'start', 'descriptor',
         'event' and 'stop' methods will be triggered as normal, and will in turn trigger
         'activity_gated_' methods - to preserve this functionality, subclasses which

mx_bluesky/common/external_interaction/callbacks/xray_centre/ispyb_callback.py

@@ -69,8 +69,8 @@ ispyb_activation_decorator = make_decorator(ispyb_activation_wrapper)
 class GridscanISPyBCallback(BaseISPyBCallback):
     """Callback class to handle the deposition of experiment parameters into the ISPyB
     database. Listens for 'event' and 'descriptor' documents. Creates the ISpyB entry on
-    recieving an 'event' document for the 'ispyb_reading_hardware' event, and updates the
-    deposition on recieving its final 'stop' document.
+    receiving an 'event' document for the 'ispyb_reading_hardware' event, and updates the
+    deposition on receiving its final 'stop' document.
 
     To use, subscribe the Bluesky RunEngine to an instance of this class.
     E.g.:

mx_bluesky/common/external_interaction/callbacks/xray_centre/nexus_callback.py

@@ -24,10 +24,10 @@ T = TypeVar("T", bound="SpecifiedThreeDGridScan")
 
 class GridscanNexusFileCallback(PlanReactiveCallback):
     """Callback class to handle the creation of Nexus files based on experiment \
-    parameters. Initialises on recieving a 'start' document for the \
+    parameters. Initialises on receiving a 'start' document for the \
     'run_gridscan_move_and_tidy' sub plan, which must also contain the run parameters, \
     as metadata under the 'hyperion_internal_parameters' key. Actually writes the \
-    nexus files on updates the timestamps on recieving the 'ispyb_reading_hardware' event \
+    nexus files on updates the timestamps on receiving the 'ispyb_reading_hardware' event \
     document, and finalises the files on getting a 'stop' document for the whole run.
 
     To use, subscribe the Bluesky RunEngine to an instance of this class.

mx_bluesky/common/parameters/components.py

@@ -231,6 +231,7 @@ class DiffractionExperimentWithSample(DiffractionExperiment, WithSample): ...
 
 class MultiXtalSelection(BaseModel):
     name: str
+    ignore_xtal_not_found: bool = False
 
 
 class TopNByMaxCountSelection(MultiXtalSelection):

mx_bluesky/hyperion/__main__.py

@@ -1,4 +1,5 @@
 import json
+import signal
 import threading
 from dataclasses import asdict
 from sys import argv
@@ -32,9 +33,10 @@ from mx_bluesky.hyperion.parameters.cli import (
     HyperionMode,
     parse_cli_args,
 )
-from mx_bluesky.hyperion.parameters.constants import CONST
+from mx_bluesky.hyperion.parameters.constants import CONST, HyperionConstants
 from mx_bluesky.hyperion.parameters.load_centre_collect import LoadCentreCollect
 from mx_bluesky.hyperion.plan_runner import PlanRunner
+from mx_bluesky.hyperion.plan_runner_api import create_server_for_udc
 from mx_bluesky.hyperion.runner import (
     GDARunner,
     StatusAndMessage,
@@ -170,7 +172,7 @@ def main():
     """Main application entry point."""
     args = parse_cli_args()
     initialise_globals(args)
-    hyperion_port = 5005
+    hyperion_port = HyperionConstants.HYPERION_PORT
     context = setup_context(dev_mode=args.dev_mode)
 
     if args.mode == HyperionMode.GDA:
@@ -188,7 +190,18 @@ def main():
         )
         runner.wait_on_queue()
     else:
-        run_forever(PlanRunner(context))
+        plan_runner = PlanRunner(context, args.dev_mode)
+        create_server_for_udc(plan_runner)
+        _register_sigterm_handler(plan_runner)
+        run_forever(plan_runner)
+
+
+def _register_sigterm_handler(runner: PlanRunner):
+    def shutdown_on_sigterm(sig_num, frame):
+        LOGGER.info("Received SIGTERM, shutting down...")
+        runner.shutdown()
+
+    signal.signal(signal.SIGTERM, shutdown_on_sigterm)
 
 
 if __name__ == "__main__":

mx_bluesky/hyperion/baton_handler.py

@@ -6,12 +6,22 @@ from blueapi.core.context import BlueskyContext
 from bluesky import plan_stubs as bps
 from bluesky import preprocessors as bpp
 from bluesky.utils import MsgGenerator, RunEngineInterrupted
+from dodal.common.beamlines.commissioning_mode import set_commissioning_signal
+from dodal.devices.aperturescatterguard import ApertureScatterguard
 from dodal.devices.baton import Baton
+from dodal.devices.motors import XYZStage
+from dodal.devices.robot import BartRobot
+from dodal.devices.smargon import Smargon
 
+from mx_bluesky.common.device_setup_plans.robot_load_unload import robot_unload
 from mx_bluesky.common.experiment_plans.inner_plans.udc_default_state import (
     UDCDefaultDevices,
     move_to_udc_default_state,
 )
+from mx_bluesky.common.external_interaction.alerting import (
+    AlertService,
+    get_alerting_service,
+)
 from mx_bluesky.common.parameters.components import MxBlueskyParameters
 from mx_bluesky.common.utils.context import (
     device_composite_from_context,
@@ -25,6 +35,7 @@ from mx_bluesky.hyperion.experiment_plans.load_centre_collect_full_plan import (
 from mx_bluesky.hyperion.external_interaction.agamemnon import (
     create_parameters_from_agamemnon,
 )
+from mx_bluesky.hyperion.external_interaction.alerting.constants import Subjects
 from mx_bluesky.hyperion.parameters.components import Wait
 from mx_bluesky.hyperion.parameters.load_centre_collect import LoadCentreCollect
 from mx_bluesky.hyperion.plan_runner import PlanException, PlanRunner
@@ -72,6 +83,7 @@ def run_udc_when_requested(context: BlueskyContext, runner: PlanRunner):
 
     def acquire_baton() -> MsgGenerator:
         yield from _wait_for_hyperion_requested(baton)
+        LOGGER.debug("Hyperion is now current baton holder.")
         yield from bps.abs_set(baton.current_user, HYPERION_USER)
 
     def collect() -> MsgGenerator:
@@ -86,29 +98,37 @@ def run_udc_when_requested(context: BlueskyContext, runner: PlanRunner):
             baton: The baton device
             runner: The runner
         """
+        _raise_udc_start_alert(get_alerting_service())
         yield from _move_to_udc_default_state(context)
 
         # re-fetch the baton because the device has been reinstantiated
         baton = _get_baton(context)
+        current_visit: str | None = None
         while (yield from _is_requesting_baton(baton)):
-            yield from _fetch_and_process_agamemnon_instruction(baton, runner)
+            current_visit = yield from _fetch_and_process_agamemnon_instruction(
+                baton, runner, current_visit
+            )
+        if current_visit:
+            yield from _perform_robot_unload(runner.context, current_visit)
 
     def release_baton() -> MsgGenerator:
         # If hyperion has given up the baton itself we need to also release requested
         # user so that hyperion doesn't think we're requested again
         baton = _get_baton(context)
-        yield from _safely_release_baton(baton)
-        yield from bps.abs_set(baton.current_user, NO_USER)
+        previous_requested_user = yield from _unrequest_baton(baton)
+        LOGGER.debug("Hyperion no longer current baton holder.")
+        yield from bps.abs_set(baton.current_user, NO_USER, wait=True)
+        _raise_baton_released_alert(get_alerting_service(), previous_requested_user)
 
     def collect_then_release() -> MsgGenerator:
         yield from bpp.contingency_wrapper(collect(), final_plan=release_baton)
 
     context.run_engine(acquire_baton())
-    _initialise_udc(context)
+    _initialise_udc(context, runner.is_dev_mode)
     context.run_engine(collect_then_release())
 
 
-def _initialise_udc(context: BlueskyContext):
+def _initialise_udc(context: BlueskyContext, dev_mode: bool):
     """
     Perform all initialisation that happens at the start of UDC just after the
     baton is acquired, but before we execute any plans or move hardware.
@@ -118,21 +138,25 @@ def _initialise_udc(context: BlueskyContext):
     """
     LOGGER.info("Initialising mx-bluesky for UDC start...")
     clear_all_device_caches(context)
-    setup_devices(context, False)
+    LOGGER.debug("Reinitialising beamline devices")
+    setup_devices(context, dev_mode)
+    set_commissioning_signal(_get_baton(context).commissioning)
 
 
 def _wait_for_hyperion_requested(baton: Baton):
+    LOGGER.debug("Hyperion waiting for baton...")
     SLEEP_PER_CHECK = 0.1
     while True:
         requested_user = yield from bps.rd(baton.requested_user)
         if requested_user == HYPERION_USER:
+            LOGGER.debug("Baton requested for Hyperion")
             break
         yield from bps.sleep(SLEEP_PER_CHECK)
 
 
 def _fetch_and_process_agamemnon_instruction(
-    baton: Baton, runner: PlanRunner
-) -> MsgGenerator:
+    baton: Baton, runner: PlanRunner, current_visit: str | None
+) -> MsgGenerator[str | None]:
     parameter_list: Sequence[MxBlueskyParameters] = create_parameters_from_agamemnon()
     if parameter_list:
         for parameters in parameter_list:
@@ -141,6 +165,7 @@ def _fetch_and_process_agamemnon_instruction(
             )
             match parameters:
                 case LoadCentreCollect():
+                    current_visit = parameters.visit
                     devices: Any = create_devices(runner.context)
                     yield from runner.execute_plan(
                         partial(load_centre_collect_full, devices, parameters)
@@ -152,8 +177,33 @@ def _fetch_and_process_agamemnon_instruction(
                         f"Unsupported instruction decoded from agamemnon {type(parameters)}"
                     )
     else:
+        _raise_udc_completed_alert(get_alerting_service())
         # Release the baton for orderly exit from the instruction loop
-        yield from _safely_release_baton(baton)
+        yield from _unrequest_baton(baton)
+    return current_visit
+
+
+def _raise_udc_start_alert(alert_service: AlertService):
+    alert_service.raise_alert(
+        Subjects.UDC_STARTED, "Unattended Data Collection has started.", {}
+    )
+
+
+def _raise_baton_released_alert(alert_service: AlertService, baton_requester: str):
+    alert_service.raise_alert(
+        Subjects.UDC_BATON_RELEASED,
+        f"Hyperion has released the baton. The baton is currently requested by:"
+        f" {baton_requester}",
+        {},
+    )
+
+
+def _raise_udc_completed_alert(alert_service: AlertService):
+    alert_service.raise_alert(
+        Subjects.UDC_COMPLETED,
+        "Hyperion UDC has completed all pending Agamemnon requests.",
+        {},
+    )
 
 
 def _runner_sleep(parameters: Wait) -> MsgGenerator:
@@ -174,9 +224,26 @@ def _get_baton(context: BlueskyContext) -> Baton:
     return find_device_in_context(context, "baton", Baton)
 
 
-def _safely_release_baton(baton: Baton) -> MsgGenerator:
+def _unrequest_baton(baton: Baton) -> MsgGenerator[str]:
     """Relinquish the requested user of the baton if it is not already requested
-    by another user."""
+    by another user.
+
+    Returns:
+        The previously requested user, or NO_USER if no user was already requested.
+    """
     requested_user = yield from bps.rd(baton.requested_user)
     if requested_user == HYPERION_USER:
+        LOGGER.debug("Hyperion no longer requesting baton")
         yield from bps.abs_set(baton.requested_user, NO_USER)
+        return NO_USER
+    return requested_user
+
+
+def _perform_robot_unload(context: BlueskyContext, visit: str) -> MsgGenerator:
+    robot = find_device_in_context(context, "robot", BartRobot)
+    smargon = find_device_in_context(context, "smargon", Smargon)
+    aperture_scatterguard = find_device_in_context(
+        context, "aperture_scatterguard", ApertureScatterguard
+    )
+    lower_gonio = find_device_in_context(context, "lower_gonio", XYZStage)
+    yield from robot_unload(robot, smargon, aperture_scatterguard, lower_gonio, visit)

mx_bluesky/hyperion/experiment_plans/load_centre_collect_full_plan.py

@@ -8,11 +8,13 @@ import pydantic
 from blueapi.core import BlueskyContext
 from bluesky.preprocessors import run_decorator, set_run_key_decorator, subs_wrapper
 from bluesky.utils import MsgGenerator
+from dodal.devices.baton import Baton
 from dodal.devices.oav.oav_parameters import OAVParameters
 
 import mx_bluesky.common.xrc_result as flyscan_result
 from mx_bluesky.common.parameters.components import WithSnapshot
 from mx_bluesky.common.utils.context import device_composite_from_context
+from mx_bluesky.common.utils.exceptions import CrystalNotFoundException
 from mx_bluesky.common.utils.log import LOGGER
 from mx_bluesky.common.xrc_result import XRayCentreEventHandler
 from mx_bluesky.hyperion.experiment_plans.robot_load_then_centre_plan import (
@@ -36,6 +38,8 @@ from mx_bluesky.hyperion.parameters.rotation import RotationScanPerSweep
 class LoadCentreCollectComposite(RobotLoadThenCentreComposite, RotationScanComposite):
     """Composite that provides access to the required devices."""
 
+    baton: Baton
+
 
 def create_devices(context: BlueskyContext) -> LoadCentreCollectComposite:
     """Create the necessary devices for the plan."""
@@ -51,8 +55,9 @@ def load_centre_collect_full(
     * Load the sample if necessary
     * Move to the specified goniometer start angles
     * Perform optical centring, then X-ray centring
-    * If X-ray centring finds a diffracting centre then move to that centre and
-    * do a collection with the specified parameters.
+    * If X-ray centring finds one or more diffracting centres then for each centre
+     that satisfies the chosen selection function,
+     move to that centre and do a collection with the specified parameters.
     """
 
     get_hyperion_config_client().refresh_cache()
@@ -81,12 +86,18 @@ def load_centre_collect_full(
     )
     def plan_with_callback_subs():
         flyscan_event_handler = XRayCentreEventHandler()
-        yield from subs_wrapper(
-            robot_load_then_xray_centre(
-                composite, parameters.robot_load_then_centre, oav_config_file
-            ),
-            flyscan_event_handler,
-        )
+        try:
+            yield from subs_wrapper(
+                robot_load_then_xray_centre(
+                    composite, parameters.robot_load_then_centre, oav_config_file
+                ),
+                flyscan_event_handler,
+            )
+        except CrystalNotFoundException:
+            if parameters.select_centres.ignore_xtal_not_found:
+                LOGGER.info("Ignoring crystal not found due to parameter settings.")
+            else:
+                raise
 
         locations_to_collect_um: list[np.ndarray]
         samples_to_collect: list[int]

mx_bluesky/hyperion/external_interaction/agamemnon.py

@@ -1,5 +1,6 @@
 import dataclasses
 import json
+import os
 import re
 import traceback
 from collections.abc import Sequence
@@ -27,7 +28,6 @@ from mx_bluesky.hyperion.parameters.components import Wait
 from mx_bluesky.hyperion.parameters.load_centre_collect import LoadCentreCollect
 
 T = TypeVar("T", bound=WithVisit)
-AGAMEMNON_URL = "http://agamemnon.diamond.ac.uk/"
 MULTIPIN_PREFIX = "multipin"
 MULTIPIN_FORMAT_DESC = "Expected multipin format is multipin_{number_of_wells}x{well_size}+{distance_between_tip_and_first_well}"
 MULTIPIN_REGEX = rf"^{MULTIPIN_PREFIX}_(\d+)x(\d+(?:\.\d+)?)\+(\d+(?:\.\d+)?)$"
@@ -191,7 +191,11 @@ def _get_pin_type_from_agamemnon_collect_parameters(
 
 
 def _get_next_instruction(beamline: str) -> dict:
-    return _get_parameters_from_url(AGAMEMNON_URL + f"getnextcollect/{beamline}")
+    return _get_parameters_from_url(get_agamemnon_url() + f"getnextcollect/{beamline}")
+
+
+def get_agamemnon_url() -> str:
+    return os.environ.get("AGAMEMNON_URL", "http://agamemnon.diamond.ac.uk/")
 
 
 def _get_withvisit_parameters_from_agamemnon(parameters: dict) -> tuple:

mx_bluesky/hyperion/external_interaction/alerting/constants.py

@@ -3,10 +3,5 @@ from enum import StrEnum
 
 class Subjects(StrEnum):
     UDC_STARTED = "UDC Started"
-    UDC_BATON_PASSED = "UDC Baton was passed"
-    UDC_RESUMED_OPERATION = "UDC Resumed operation"
-    UDC_SUSPENDED_OPERATION = "UDC Suspended operation"
-    NEW_CONTAINER = "Hyperion is collecting from a new container"
-    NEW_VISIT = "Hyperion has changed visit"
-    SAMPLE_ERROR = "Hyperion has encountered a sample error"
-    BEAMLINE_ERROR = "Hyperion has encountered a beamline error"
+    UDC_BATON_RELEASED = "UDC Baton was released"
+    UDC_COMPLETED = "UDC Completed"

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

@@ -34,8 +34,8 @@ if TYPE_CHECKING:
 class RotationISPyBCallback(BaseISPyBCallback):
     """Callback class to handle the deposition of experiment parameters into the ISPyB
     database. Listens for 'event' and 'descriptor' documents. Creates the ISpyB entry on
-    recieving an 'event' document for the 'ispyb_reading_hardware' event, and updates the
-    deposition on recieving its final 'stop' document.
+    receiving an 'event' document for the 'ispyb_reading_hardware' event, and updates the
+    deposition on receiving its final 'stop' document.
 
     To use, subscribe the Bluesky RunEngine to an instance of this class.
     E.g.: