Support ophyd-async v0.6.0 (#512)

* update panda to use SeqTable.row

* New dodal pin

* Pin dodal in correct place

* Support modified undulator_dcm

* Fix test plan system

pyproject.toml

@@ -45,7 +45,7 @@ dependencies = [
     "ophyd == 1.9.0",
     "ophyd-async >= 0.3a5",
     "bluesky >= 1.13.0a4",
-    "dls-dodal @ git+https://github.com/DiamondLightSource/dodal.git@040a72885deaca1055a930f09eccef4acca812f5",
+    "dls-dodal @ git+https://github.com/DiamondLightSource/dodal.git@3f59ce090dd5c5f94f761b4b80a61cbd34d90564",
 ]
 
 

src/mx_bluesky/hyperion/device_setup_plans/dcm_pitch_roll_mirror_adjuster.py

@@ -87,7 +87,7 @@ def adjust_dcm_pitch_roll_vfm_from_lut(
     bragg_deg = yield from bps.rd(dcm.bragg_in_degrees.user_readback)
     LOGGER.info(f"Read Bragg angle = {bragg_deg} degrees")
     dcm_pitch_adjuster = lookup_table_adjuster(
-        linear_interpolation_lut(undulator_dcm.dcm_pitch_converter_lookup_table_path),
+        linear_interpolation_lut(undulator_dcm.pitch_energy_table_path),
         dcm.pitch_in_mrad,
         bragg_deg,
     )
@@ -97,7 +97,7 @@ def adjust_dcm_pitch_roll_vfm_from_lut(
 
     # DCM Roll
     dcm_roll_adjuster = lookup_table_adjuster(
-        linear_interpolation_lut(undulator_dcm.dcm_roll_converter_lookup_table_path),
+        linear_interpolation_lut(undulator_dcm.roll_energy_table_path),
         dcm.roll_in_mrad,
         bragg_deg,
     )

src/mx_bluesky/hyperion/device_setup_plans/setup_panda.py

@@ -11,9 +11,7 @@
 from ophyd_async.fastcs.panda import (
     HDFPanda,
     SeqTable,
-    SeqTableRow,
     SeqTrigger,
-    seq_table_from_rows,
 )
 
 import mx_bluesky.hyperion.resources.panda as panda_resource
@@ -85,10 +83,10 @@ def _get_seq_table(
     # BITA_1 trigger wired from TTLIN1, this is the trigger input
 
     # +ve direction scan
-    rows = [SeqTableRow(trigger=SeqTrigger.BITA_1, time2=1)]
 
-    rows.append(
-        SeqTableRow(
+    table = (
+        SeqTable.row(trigger=SeqTrigger.BITA_1, time2=1)
+        + SeqTable.row(
             repeats=num_pulses,
             trigger=SeqTrigger.POSA_GT,
             position=start_of_grid_x_counts,
@@ -97,13 +95,10 @@ def _get_seq_table(
             time2=delay_between_pulses - PULSE_WIDTH_US,
             outa2=False,
         )
-    )
-
-    # -ve direction scan
-    rows.append(SeqTableRow(trigger=SeqTrigger.BITA_1, time2=1))
-
-    rows.append(
-        SeqTableRow(
+        +
+        # -ve direction scan
+        SeqTable.row(trigger=SeqTrigger.BITA_1, time2=1)
+        + SeqTable.row(
             repeats=num_pulses,
             trigger=SeqTrigger.POSA_LT,
             position=end_of_grid_x_counts + exposure_distance_x_counts,
@@ -114,8 +109,6 @@ def _get_seq_table(
         )
     )
 
-    table = seq_table_from_rows(*rows)
-
     return table
 
 

tests/conftest.py

@@ -439,10 +439,10 @@ def vfm_mirror_voltages():
 def undulator_dcm(RE, dcm):
     undulator_dcm = i03.undulator_dcm(fake_with_ophyd_sim=True)
     undulator_dcm.dcm = dcm
-    undulator_dcm.dcm_roll_converter_lookup_table_path = (
+    undulator_dcm.roll_energy_table_path = (
         "tests/test_data/test_beamline_dcm_roll_converter.txt"
     )
-    undulator_dcm.dcm_pitch_converter_lookup_table_path = (
+    undulator_dcm.pitch_energy_table_path = (
         "tests/test_data/test_beamline_dcm_pitch_converter.txt"
     )
     yield undulator_dcm

tests/system_tests/hyperion/experiment_plans/test_plan_system.py

@@ -25,7 +25,9 @@
 async def test_getting_data_for_ispyb():
     params = GDABeamlineParameters.from_file(BEAMLINE_PARAMETER_PATHS["i03"])
     undulator = Undulator(
-        f"{CONST.SIM.INSERTION_PREFIX}-MO-SERVC-01:", name="undulator"
+        f"{CONST.SIM.INSERTION_PREFIX}-MO-SERVC-01:",
+        name="undulator",
+        id_gap_lookup_table_path="/dls_sw/i03/software/daq_configuration/lookup/BeamLine_Undulator_toGap.txt",
     )
     synchrotron = i03.synchrotron(fake_with_ophyd_sim=True)
     slit_gaps = S4SlitGaps(f"{CONST.SIM.BEAMLINE}-AL-SLITS-04:", name="slits")

tests/unit_tests/hyperion/device_setup_plans/test_setup_panda.py

@@ -1,5 +1,4 @@
 from datetime import datetime
-from typing import NamedTuple
 from unittest.mock import MagicMock, patch
 
 import numpy as np
@@ -9,7 +8,7 @@
 from bluesky.simulators import RunEngineSimulator, assert_message_and_return_remaining
 from dodal.common.types import UpdatingPathProvider
 from dodal.devices.fast_grid_scan import PandAGridScanParams
-from ophyd_async.fastcs.panda import SeqTrigger
+from ophyd_async.fastcs.panda import SeqTable, SeqTrigger
 
 from mx_bluesky.hyperion.device_setup_plans.setup_panda import (
     MM_TO_ENCODER_COUNTS,
@@ -69,16 +68,6 @@ def test_setup_panda_performs_correct_plans(mock_load_device, sim_run_engine):
     assert num_of_waits == 3
 
 
-class SeqRow(NamedTuple):
-    repeats: int
-    trigger: SeqTrigger
-    position: int
-    time1: int
-    outa1: int
-    time2: int
-    outa2: int
-
-
 @pytest.mark.parametrize(
     "x_steps, x_step_size, x_start, run_up_distance_mm, time_between_x_steps_ms, exposure_time_s",
     [
@@ -142,44 +131,54 @@ def test_setup_panda_correctly_configures_table(
 
     PULSE_WIDTH_US = 1
     SPACE_WIDTH_US = int(time_between_x_steps_ms * 1000 - PULSE_WIDTH_US)
-    expected_seq_rows: list[SeqRow] = [
-        SeqRow(1, SeqTrigger.BITA_1, 0, 0, 0, 1, 0),
-        SeqRow(
-            x_steps,
-            SeqTrigger.POSA_GT,
-            int(params.x_start * MM_TO_ENCODER_COUNTS),
-            PULSE_WIDTH_US,
-            1,
-            SPACE_WIDTH_US,
-            0,
-        ),
-    ]
 
     exposure_distance_counts = exposure_distance_mm * MM_TO_ENCODER_COUNTS
-    expected_seq_rows.extend(
-        [
-            SeqRow(1, SeqTrigger.BITA_1, 0, 0, 0, 1, 0),
-            SeqRow(
-                x_steps,
-                SeqTrigger.POSA_LT,
-                int(
-                    (params.x_start + (params.x_steps - 1) * params.x_step_size)
-                    * MM_TO_ENCODER_COUNTS
-                    + exposure_distance_counts
-                ),
-                PULSE_WIDTH_US,
-                1,
-                SPACE_WIDTH_US,
-                0,
+    expected_seq_table: SeqTable = (
+        SeqTable.row(
+            repeats=1,
+            trigger=SeqTrigger.BITA_1,
+            position=0,
+            time1=False,
+            outa1=False,
+            time2=True,
+            outa2=False,
+        )
+        + SeqTable.row(
+            repeats=x_steps,
+            trigger=SeqTrigger.POSA_GT,
+            position=int(params.x_start * MM_TO_ENCODER_COUNTS),
+            time1=PULSE_WIDTH_US,
+            outa1=True,
+            time2=SPACE_WIDTH_US,
+            outa2=False,
+        )
+        + SeqTable.row(
+            repeats=1,
+            trigger=SeqTrigger.BITA_1,
+            position=0,
+            time1=False,
+            outa1=False,
+            time2=True,
+            outa2=False,
+        )
+        + SeqTable.row(
+            repeats=x_steps,
+            trigger=SeqTrigger.POSA_LT,
+            position=int(
+                (params.x_start + (params.x_steps - 1) * params.x_step_size)
+                * MM_TO_ENCODER_COUNTS
+                + exposure_distance_counts
             ),
-        ]
+            time1=PULSE_WIDTH_US,
+            outa1=True,
+            time2=SPACE_WIDTH_US,
+            outa2=False,
+        )
     )
 
-    for key in SeqRow._fields:
+    for attr_name in table.__annotations__.keys():
         np.testing.assert_array_equal(
-            table.get(key),
-            [getattr(row, key) for row in expected_seq_rows],
-            f"Sequence table for field {key} does not match",
+            getattr(table, attr_name), getattr(expected_seq_table, attr_name)
         )