Fix issues from testing (#796)

* Use correct PV for checking robot light curtain and do it in the device

* Make sure multi rotations are staging eiger correctly

* Pin dodal

* Fix test

pyproject.toml

@@ -46,7 +46,7 @@ dependencies = [
     "ophyd == 1.9.0",
     "ophyd-async >= 0.9.0a2",
     "bluesky >= 1.13",
-    "dls-dodal @ git+https://github.com/DiamondLightSource/dodal.git",
+    "dls-dodal @ git+https://github.com/DiamondLightSource/dodal.git@61d2eb609245cb96184c9dbfb8d9af8adef50447",
 ]
 
 

src/mx_bluesky/hyperion/experiment_plans/robot_load_and_change_energy.py

@@ -120,11 +120,6 @@ def do_robot_load(
     demand_energy_ev: float | None,
     thawing_time: float,
 ):
-    error_code = yield from bps.rd(composite.robot.controller_error.code)
-    # Reset robot if light curtains were tripped
-    if error_code == 40:
-        yield from bps.trigger(composite.robot.reset, wait=True)
-
     yield from bps.abs_set(
         composite.robot,
         sample_location,

src/mx_bluesky/hyperion/experiment_plans/rotation_scan_plan.py

@@ -436,7 +436,6 @@ def multi_rotation_scan(
             ],
         }
     )
-    @bpp.stage_decorator([eiger])
     @transmission_and_xbpm_feedback_for_collection_decorator(
         composite.undulator,
         composite.xbpm_feedback,
@@ -471,3 +470,4 @@ def rotation_scan_core(
         _multi_rotation_scan(),
         group=CONST.WAIT.ROTATION_READY_FOR_DC,
     )
+    yield from bps.unstage(eiger)

tests/unit_tests/hyperion/experiment_plans/test_multi_rotation_scan_plan.py

@@ -15,6 +15,7 @@
 from bluesky.simulators import RunEngineSimulator, assert_message_and_return_remaining
 from dodal.devices.oav.oav_parameters import OAVParameters
 from dodal.devices.synchrotron import SynchrotronMode
+from ophyd.status import Status
 from ophyd_async.testing import set_mock_value
 
 from mx_bluesky.common.external_interaction.ispyb.ispyb_store import StoreInIspyb
@@ -84,7 +85,7 @@ async def test_multi_rotation_plan_runs_multiple_plans_in_one_arm(
     )
 
     msgs = assert_message_and_return_remaining(
-        msgs, lambda msg: msg.command == "stage" and msg.obj.name == "eiger"
+        msgs, lambda msg: msg.command == "set" and msg.obj.name == "eiger_do_arm"
     )[1:]
 
     msgs_within_arming = list(
@@ -480,3 +481,33 @@ def test_full_multi_rotation_plan_ispyb_interaction_end_to_end(
         fourth_upsert_data = upsert_calls[3].args[0]
         assert fourth_upsert_data[9]  # timestamp
         assert fourth_upsert_data[10] == "DataCollection Successful"
+
+
+@patch(
+    "mx_bluesky.hyperion.experiment_plans.rotation_scan_plan.check_topup_and_wait_if_necessary",
+    autospec=True,
+)
+def test_full_multi_rotation_plan_arms_eiger_asynchronously_and_disarms(
+    _,
+    RE: RunEngine,
+    test_multi_rotation_params: MultiRotationScan,
+    fake_create_rotation_devices: RotationScanComposite,
+    oav_parameters_for_rotation: OAVParameters,
+):
+    eiger = fake_create_rotation_devices.eiger
+    eiger.stage = MagicMock(return_value=Status(done=True, success=True))
+    eiger.unstage = MagicMock(return_value=Status(done=True, success=True))
+    eiger.do_arm.set = MagicMock(return_value=Status(done=True, success=True))
+
+    _run_multi_rotation_plan(
+        RE,
+        test_multi_rotation_params,
+        fake_create_rotation_devices,
+        [],
+        oav_parameters_for_rotation,
+    )
+    # Stage will arm the eiger synchonously
+    eiger.stage.assert_not_called()
+
+    eiger.do_arm.set.assert_called_once()
+    eiger.unstage.assert_called_once()

tests/unit_tests/hyperion/experiment_plans/test_robot_load_and_change_energy.py

@@ -15,8 +15,6 @@
 
 from mx_bluesky.hyperion.experiment_plans.robot_load_and_change_energy import (
     RobotLoadAndEnergyChangeComposite,
-    SampleLocation,
-    do_robot_load,
     prepare_for_robot_load,
     robot_load_and_change_energy_plan,
     take_robot_snapshots,
@@ -167,43 +165,6 @@ async def test_when_prepare_for_robot_load_called_then_moves_as_expected(
     aperture_scatterguard.set.assert_called_once_with(ApertureValue.OUT_OF_BEAM)  # type: ignore
 
 
-@patch(
-    "mx_bluesky.hyperion.experiment_plans.robot_load_and_change_energy.set_energy_plan",
-    MagicMock(return_value=iter([])),
-)
-@patch(
-    "mx_bluesky.hyperion.experiment_plans.robot_load_and_change_energy.bps.trigger",
-)
-async def test_when_error_40_reset_robot_before_load(
-    mock_reset_error: MagicMock,
-    robot_load_and_energy_change_composite: RobotLoadAndEnergyChangeComposite,
-    robot_load_and_energy_change_params: RobotLoadAndEnergyChange,
-):
-    assert robot_load_and_energy_change_params.sample_puck is not None
-    assert robot_load_and_energy_change_params.sample_pin is not None
-
-    sample_location = SampleLocation(
-        robot_load_and_energy_change_params.sample_puck,
-        robot_load_and_energy_change_params.sample_pin,
-    )
-
-    demand_energy_ev = robot_load_and_energy_change_params.demand_energy_ev
-
-    set_mock_value(
-        robot_load_and_energy_change_composite.robot.controller_error.code, 40
-    )
-
-    RE = RunEngine()
-    RE(
-        # Thawing time set to arbitrary value
-        do_robot_load(
-            robot_load_and_energy_change_composite, sample_location, demand_energy_ev, 0
-        )
-    )
-
-    mock_reset_error.assert_called_once()
-
-
 @patch(
     "mx_bluesky.hyperion.external_interaction.callbacks.robot_load.ispyb_callback.ExpeyeInteraction"
 )