(#1282) Trigger snapshots after robot load

src/hyperion/experiment_plans/robot_load_then_centre_plan.py

@@ -2,6 +2,7 @@
 
 import dataclasses
 import json
+from datetime import datetime
 from typing import cast
 
 import bluesky.plan_stubs as bps
@@ -26,6 +27,7 @@
 from dodal.devices.synchrotron import Synchrotron
 from dodal.devices.undulator import Undulator
 from dodal.devices.undulator_dcm import UndulatorDCM
+from dodal.devices.webcam import Webcam
 from dodal.devices.xbpm_feedback import XBPMFeedback
 from dodal.devices.zebra import Zebra
 from dodal.devices.zocalo import ZocaloResults
@@ -88,6 +90,7 @@ class RobotLoadThenCentreComposite:
 
     # RobotLoad fields
     robot: BartRobot
+    webcam: Webcam
 
 
 def create_devices(context: BlueskyContext) -> RobotLoadThenCentreComposite:
@@ -115,6 +118,18 @@ def wait_for_smargon_not_disabled(smargon: Smargon, timeout=60):
     )
 
 
+def take_robot_snapshots(oav: OAV, webcam: Webcam, directory: str):
+    time_now = datetime.now()
+    snapshot_format = f"{time_now.strftime('%H%M%S')}_{{device}}_after_load"
+    for device in [oav.snapshot, webcam]:
+        yield from bps.abs_set(
+            device.filename, snapshot_format.format(device=device.name)
+        )
+        yield from bps.abs_set(device.directory, directory)
+        yield from bps.trigger(device, group="snapshots")
+    yield from bps.wait("snapshots")
+
+
 def prepare_for_robot_load(composite: RobotLoadThenCentreComposite):
     yield from bps.abs_set(
         composite.aperture_scatterguard,
@@ -174,8 +189,14 @@ def robot_load():
 
         yield from bps.wait("robot_load")
 
+        yield from take_robot_snapshots(
+            composite.oav, composite.webcam, parameters.experiment_params.snapshot_dir
+        )
+
         yield from bps.create(name=CONST.DESCRIPTORS.ROBOT_LOAD)
         yield from bps.read(composite.robot.barcode)
+        yield from bps.read(composite.oav.snapshot)
+        yield from bps.read(composite.webcam)
         yield from bps.save()
 
         yield from wait_for_smargon_not_disabled(composite.smargon)

tests/conftest.py

@@ -35,6 +35,7 @@
 from dodal.log import LOGGER as dodal_logger
 from dodal.log import set_up_all_logging_handlers
 from ophyd.epics_motor import EpicsMotor
+from ophyd.sim import NullStatus
 from ophyd.status import DeviceStatus, Status
 from ophyd_async.core import set_sim_value
 from ophyd_async.core.async_status import AsyncStatus
@@ -314,7 +315,9 @@ def synchrotron():
 
 @pytest.fixture
 def oav():
-    return i03.oav(fake_with_ophyd_sim=True)
+    oav = i03.oav(fake_with_ophyd_sim=True)
+    oav.snapshot.trigger = MagicMock(return_value=NullStatus())
+    return oav
 
 
 @pytest.fixture
@@ -405,6 +408,11 @@ def undulator_dcm():
     beamline_utils.clear_devices()
 
 
+@pytest.fixture
+def webcam(RE):
+    return i03.webcam(fake_with_ophyd_sim=True)
+
+
 @pytest.fixture
 def aperture_scatterguard(done_status):
     AperturePositions.LARGE = SingleAperturePosition(

tests/unit_tests/experiment_plans/test_wait_for_robot_load_then_centre.py

@@ -5,14 +5,17 @@
 from bluesky.utils import Msg
 from dodal.devices.aperturescatterguard import AperturePositions
 from dodal.devices.eiger import EigerDetector
+from dodal.devices.oav.oav_detector import OAV
 from dodal.devices.smargon import Smargon, StubPosition
+from dodal.devices.webcam import Webcam
 from numpy import isclose
 from ophyd.sim import NullStatus, instantiate_fake_device
 
 from hyperion.experiment_plans.robot_load_then_centre_plan import (
     RobotLoadThenCentreComposite,
     prepare_for_robot_load,
     robot_load_then_centre,
+    take_robot_snapshots,
 )
 from hyperion.external_interaction.callbacks.robot_load.ispyb_callback import (
     RobotLoadISPyBCallback,
@@ -29,7 +32,7 @@
 
 @pytest.fixture
 def robot_load_composite(
-    smargon, dcm, robot, aperture_scatterguard
+    smargon, dcm, robot, aperture_scatterguard, oav, webcam
 ) -> RobotLoadThenCentreComposite:
     composite: RobotLoadThenCentreComposite = MagicMock()
     composite.smargon = smargon
@@ -39,6 +42,8 @@ def robot_load_composite(
     composite.aperture_scatterguard = aperture_scatterguard
     composite.smargon.stub_offsets.set = MagicMock(return_value=NullStatus())
     composite.aperture_scatterguard.set = MagicMock(return_value=NullStatus())
+    composite.oav = oav
+    composite.webcam = webcam
     return composite
 
 
@@ -336,3 +341,26 @@ def test_given_ispyb_callback_attached_when_robot_load_then_centre_plan_called_t
     start_load.assert_called_once_with("cm31105", 4, "12345", 40, 3)
     update_barcode.assert_called_once_with(action_id, "BARCODE")
     end_load.assert_called_once_with(action_id, "success", "")
+
+
+@patch("hyperion.experiment_plans.robot_load_then_centre_plan.datetime")
+async def test_when_take_snapshots_called_then_filename_and_directory_set_and_device_triggered(
+    mock_datetime: MagicMock, oav: OAV, webcam: Webcam
+):
+    TEST_DIRECTORY = "TEST"
+
+    mock_datetime.now.return_value.strftime.return_value = "TIME"
+
+    RE = RunEngine()
+    oav.snapshot.trigger = MagicMock(side_effect=oav.snapshot.trigger)
+    webcam.trigger = MagicMock(return_value=NullStatus())
+
+    RE(take_robot_snapshots(oav, webcam, TEST_DIRECTORY))
+
+    oav.snapshot.trigger.assert_called_once()
+    assert oav.snapshot.filename.get() == "TIME_oav_snapshot_after_load"
+    assert oav.snapshot.directory.get() == TEST_DIRECTORY
+
+    webcam.trigger.assert_called_once()
+    assert (await webcam.filename.get_value()) == "TIME_webcam_after_load"
+    assert (await webcam.directory.get_value()) == TEST_DIRECTORY