Robot load testing 14/06

[DominicOram]

• RobotLoadThenCentre has snapshot_directory as required but it's not if you specify storage_directory - see Tidy up snapshot params mx-bluesky#235
• sanpshot_omegas_deg: - see Tidy up snapshot params mx-bluesky#235
  • Why is it required for robot load, it's not used in the plan?
  • It should have a sensible default
  • What does it being optional mean in this context? Why not just use []?
• RobotLoadIspybCallback is not started in the callback process - 1446 robot load fixes #1451
• No OK on the SUCCESS in synchweb - 1446 robot load fixes #1451
• Images not rendering properly in synchweb
  . Need to additionally create a thumbnail with the same name but t on the end (e.g. 165220_oav_snapshot_after_load.png and 165220_oav_snapshot_after_loadt.png) where the thumbnail is scaled down to be 192 pixels high - Save thumbnail images for snapshots  dodal#628
• We're occasionally getting 700 - sample position write failure errors on the robot. Waiting on the readback for next pin to match the setpoint (Document strategies of waiting for a signal to match a value, pushing it down to EPICS or checking in the device or plan bluesky/ophyd-async#386) seemed to maybe fix this... - 1446 robot load fixes #1451
• Images are the other way round in synchweb - 1446 robot load fixes #1451
• OAV image was taken too early and so gripper in the way. Waiting for smargon moved then taking image fixed this - 1446 robot load fixes #1451
• Error of "5640 Cannot execute during RUN" - @ndg63276 any ideas why this might happen? - Discussed, due to unrelated previous error
• If there is no pin we just get a timeout and no clean error on synchweb - 1446 robot load fixes #1451
• On timeout due to robot error we should put the error message in ispyb - 1446 robot load fixes #1451

[ndg63276]

Discussed in person but to document, error 5640 means some sort of syntax error, "Cannot execute during run" probably means something else was running or erroring when you tried to send a command.

In general though, command errors can be ignored, only program and control errors need to be looked at.