Do not move lower gonio until the robot is safely away (#1526)

* Do not move lower gonio until the robot is safely away

* Added group to thawing

src/hyperion/experiment_plans/robot_load_then_centre_plan.py

@@ -149,10 +149,11 @@ def prepare_for_robot_load(composite: RobotLoadThenCentreComposite):
  yield from bps.wait("prepare_robot_load")
 
 
-def robot_load_and_energy_change(
+def do_robot_load(
  composite: RobotLoadThenCentreComposite,
  sample_location: SampleLocation,
  demand_energy_ev: float | None,
+ thawing_time: float,
 ):
  yield from bps.abs_set(
  composite.robot,
@@ -168,6 +169,11 @@ def robot_load_and_energy_change(
 
  yield from bps.wait("robot_load")
 
+ yield from bps.abs_set(
+ composite.thawer.thaw_for_time_s, thawing_time, group="thawing_finished"
+ )
+ yield from wait_for_smargon_not_disabled(composite.smargon)
+
 
 def raise_exception_if_moved_out_of_cryojet(exception):
  yield from bps.null()
@@ -204,10 +210,11 @@ def robot_load_and_snapshots():
  assert params.sample_puck is not None
  assert params.sample_pin is not None
 
- robot_load_plan = robot_load_and_energy_change(
+ robot_load_plan = do_robot_load(
  composite,
  SampleLocation(params.sample_puck, params.sample_pin),
  params.demand_energy_ev,
+ params.thawing_time,
  )
 
  # The lower gonio must be in the correct position for the robot load and we
@@ -226,9 +233,6 @@ def robot_load_and_snapshots():
  except_plan=raise_exception_if_moved_out_of_cryojet,
  )
 
- yield from bps.abs_set(composite.thawer.thaw_for_time_s, params.thawing_time)
- yield from wait_for_smargon_not_disabled(composite.smargon)
-
  yield from take_robot_snapshots(
  composite.oav, composite.webcam, params.snapshot_directory
  )

tests/unit_tests/experiment_plans/test_wait_for_robot_load_then_centre.py

@@ -398,6 +398,62 @@ def get_read(axis, msg):
  )
 
 
+@patch(
+ "hyperion.experiment_plans.robot_load_then_centre_plan.pin_centre_then_xray_centre_plan"
+)
+@patch(
+ "hyperion.experiment_plans.robot_load_then_centre_plan.set_energy_plan",
+ MagicMock(return_value=iter([])),
+)
+def test_when_plan_run_then_lower_gonio_moved_before_robot_loads_and_back_after_smargon_enabled(
+ mock_centring_plan: MagicMock,
+ robot_load_composite: RobotLoadThenCentreComposite,
+ robot_load_then_centre_params_no_energy: RobotLoadThenCentre,
+ sim_run_engine: RunEngineSimulator,
+):
+ initial_values = {"x": 0.11, "y": 0.12, "z": 0.13}
+
+ def get_read(axis, msg):
+ return {f"lower_gonio-{axis}": {"value": initial_values[axis]}}
+
+ for axis in initial_values.keys():
+ sim_run_engine.add_handler(
+ "read", partial(get_read, axis), f"lower_gonio-{axis}"
+ )
+
+ messages = sim_run_engine.simulate_plan(
+ robot_load_then_centre(
+ robot_load_composite,
+ robot_load_then_centre_params_no_energy,
+ )
+ )
+
+ assert_message_and_return_remaining(
+ messages, lambda msg: msg.command == "set" and msg.obj.name == "robot"
+ )
+
+ for axis in initial_values.keys():
+ messages = assert_message_and_return_remaining(
+ messages,
+ lambda msg: msg.command == "set"
+ and msg.obj.name == f"lower_gonio-{axis}"
+ and msg.args == (0,),
+ )
+
+ assert_message_and_return_remaining(
+ messages,
+ lambda msg: msg.command == "read" and msg.obj.name == "smargon-disabled",
+ )
+
+ for axis, initial in initial_values.items():
+ messages = assert_message_and_return_remaining(
+ messages,
+ lambda msg: msg.command == "set"
+ and msg.obj.name == f"lower_gonio-{axis}"
+ and msg.args == (initial,),
+ )
+
+
 @patch(
  "hyperion.experiment_plans.robot_load_then_centre_plan.pin_centre_then_xray_centre_plan"
 )