Add panda support for writing positions

setup.cfg

@@ -33,7 +33,7 @@ install_requires =
     xarray
     doct
     databroker
-    dls-dodal @ git+https://github.com/DiamondLightSource/dodal.git@7ecd49eb11060a8528ed8b6d31e6c94179bdc2a3
+    dls-dodal @ git+https://github.com/DiamondLightSource/dodal.git@aac89a96686218add67bbbcc80118f6e94f0bdc9
     pydantic<2.0 # See https://github.com/DiamondLightSource/hyperion/issues/774
     scipy
     pyzmq<25 # See https://github.com/DiamondLightSource/hyperion/issues/1103

src/hyperion/device_setup_plans/setup_panda.py

@@ -5,7 +5,7 @@
 from dodal.devices.panda_fast_grid_scan import PandAGridScanParams
 from ophyd_async.core import load_device
 from ophyd_async.panda import (
-    PandA,
+    HDFPanda,
     SeqTable,
     SeqTableRow,
     SeqTrigger,
@@ -109,7 +109,7 @@ def get_seq_table(
 
 
 def setup_panda_for_flyscan(
-    panda: PandA,
+    panda: HDFPanda,
     config_yaml_path: str,
     parameters: PandAGridScanParams,
     initial_x: float,
@@ -123,7 +123,7 @@ def setup_panda_for_flyscan(
     created using ophyd_async.core.save_device()
 
     Args:
-        panda (PandA): The PandA Ophyd device
+        panda (HDFPanda): The PandA Ophyd device
         config_yaml_path (str): Path to the yaml file containing the desired PandA PVs
         parameters (PandAGridScanParams): Grid parameters
         initial_x (float): Motor positions at time of PandA setup
@@ -177,7 +177,7 @@ def setup_panda_for_flyscan(
     yield from arm_panda_for_gridscan(panda)
 
 
-def arm_panda_for_gridscan(panda: PandA, group="arm_panda_gridscan"):
+def arm_panda_for_gridscan(panda: HDFPanda, group="arm_panda_gridscan"):
     yield from bps.abs_set(panda.seq[1].enable, Enabled.ENABLED.value, group=group)  # type: ignore
     yield from bps.abs_set(panda.pulse[1].enable, Enabled.ENABLED.value, group=group)  # type: ignore
     yield from bps.abs_set(panda.counter[1].enable, Enabled.ENABLED.value, group=group)  # type: ignore

src/hyperion/experiment_plans/flyscan_xray_centre_plan.py

@@ -33,7 +33,7 @@
     get_processing_result,
 )
 from dodal.plans.check_topup import check_topup_and_wait_if_necessary
-from ophyd_async.panda import PandA
+from ophyd_async.panda import HDFPanda
 
 from hyperion.device_setup_plans.manipulate_sample import move_x_y_z
 from hyperion.device_setup_plans.read_hardware_for_setup import (
@@ -85,7 +85,7 @@ class FlyScanXRayCentreComposite:
     xbpm_feedback: XBPMFeedback
     zebra: Zebra
     zocalo: ZocaloResults
-    panda: PandA
+    panda: HDFPanda
     panda_fast_grid_scan: PandAFastGridScan
     robot: BartRobot
 

src/hyperion/experiment_plans/grid_detect_then_xray_centre_plan.py

@@ -27,7 +27,7 @@
 from dodal.devices.xbpm_feedback import XBPMFeedback
 from dodal.devices.zebra import Zebra
 from dodal.devices.zocalo import ZocaloResults
-from ophyd_async.panda import PandA
+from ophyd_async.panda import HDFPanda
 
 from hyperion.device_setup_plans.utils import (
     start_preparing_data_collection_then_do_plan,
@@ -88,7 +88,7 @@ class GridDetectThenXRayCentreComposite:
     xbpm_feedback: XBPMFeedback
     zebra: Zebra
     zocalo: ZocaloResults
-    panda: PandA
+    panda: HDFPanda
     panda_fast_grid_scan: PandAFastGridScan
     robot: BartRobot
 

src/hyperion/experiment_plans/panda_flyscan_xray_centre_plan.py

@@ -1,11 +1,13 @@
 from __future__ import annotations
 
+from pathlib import Path
 from typing import TYPE_CHECKING, Any, Union
 
 import bluesky.plan_stubs as bps
 import bluesky.preprocessors as bpp
 import numpy as np
 from blueapi.core import BlueskyContext, MsgGenerator
+from dodal.common import udc_directory_provider
 from dodal.devices.panda_fast_grid_scan import (
     set_fast_grid_scan_params as set_flyscan_params,
 )
@@ -194,6 +196,9 @@ def run_gridscan_and_move(
         time_between_x_steps_ms,
     )
 
+    udc_directory_provider.set_directory(
+        Path(parameters.hyperion_params.detector_params.directory)
+    )
     yield from setup_panda_for_flyscan(
         fgs_composite.panda,
         PANDA_SETUP_PATH,

src/hyperion/experiment_plans/robot_load_then_centre_plan.py

@@ -31,7 +31,7 @@
 from dodal.devices.xbpm_feedback import XBPMFeedback
 from dodal.devices.zebra import Zebra
 from dodal.devices.zocalo import ZocaloResults
-from ophyd_async.panda import PandA
+from ophyd_async.panda import HDFPanda
 
 from hyperion.device_setup_plans.utils import (
     start_preparing_data_collection_then_do_plan,
@@ -79,7 +79,7 @@ class RobotLoadThenCentreComposite:
     undulator: Undulator
     zebra: Zebra
     zocalo: ZocaloResults
-    panda: PandA
+    panda: HDFPanda
     panda_fast_grid_scan: PandAFastGridScan
 
     # SetEnergyComposite fields

tests/unit_tests/experiment_plans/test_panda_flyscan_xray_centre_plan.py

@@ -1,5 +1,6 @@
 import random
 import types
+from pathlib import Path
 from typing import Any, Tuple
 from unittest.mock import DEFAULT, MagicMock, call, patch
 
@@ -470,6 +471,40 @@ def wrapped_run_gridscan_and_move():
         call = app_to_comment.call_args_list[0]
         assert "Crystal 1: Strength 999999" in call.args[1]
 
+    @patch(
+        "dodal.devices.aperturescatterguard.ApertureScatterguard.set",
+        new=MagicMock(return_value=Status(done=True, success=True)),
+    )
+    @patch(
+        "hyperion.experiment_plans.panda_flyscan_xray_centre_plan.move_x_y_z",
+        new=MagicMock(autospec=True),
+    )
+    @patch(
+        "hyperion.experiment_plans.panda_flyscan_xray_centre_plan.setup_panda_for_flyscan",
+        new=MagicMock(autospec=True),
+    )
+    @patch(
+        "hyperion.experiment_plans.panda_flyscan_xray_centre_plan.run_gridscan",
+        new=MagicMock(return_value=iter([])),
+    )
+    @patch(
+        "hyperion.experiment_plans.panda_flyscan_xray_centre_plan.udc_directory_provider.set_directory",
+        autospec=True,
+    )
+    def test_when_gridscan_run_panda_directory_applied(
+        self,
+        set_directory,
+        RE_with_subs: tuple[RunEngine, Any],
+        test_panda_fgs_params: PandAGridscanInternalParameters,
+        fake_fgs_composite: FlyScanXRayCentreComposite,
+    ):
+        RE_with_subs[0].subscribe(VerbosePlanExecutionLoggingCallback())
+        RE_with_subs[0](
+            run_gridscan_and_move(fake_fgs_composite, test_panda_fgs_params)
+        )
+        expected_path = Path("/dls/i03/data/2023/cm33866-5/test_hyperion")
+        set_directory.assert_called_once_with(expected_path)
+
     @patch(
         "hyperion.experiment_plans.panda_flyscan_xray_centre_plan.run_gridscan",
         autospec=True,