Correctly pass parameters through all of Hyperion's UDC parameters

src/mx_bluesky/common/parameters/components.py

@@ -29,7 +29,7 @@
     GridscanParamConstants,
 )
 
-PARAMETER_VERSION = Version.parse("5.2.0")
+PARAMETER_VERSION = Version.parse("5.3.0")
 
 
 class RotationAxis(StrEnum):

src/mx_bluesky/common/parameters/gridscan.py

@@ -27,7 +27,6 @@
     GridscanParamConstants,
     HardwareConstants,
 )
-from mx_bluesky.common.parameters.robot_load import RobotLoadAndEnergyChange
 
 
 class GridCommon(
@@ -73,20 +72,8 @@ def detector_params(self):
             **optional_args,
         )
 
-
-class RobotLoadThenCentre(GridCommon):
-    thawing_time: float = Field(default=HardwareConstants.THAWING_TIME)
     tip_offset_um: float = Field(default=HardwareConstants.TIP_OFFSET_UM)
 
-    def robot_load_params(self):
-        my_params = self.model_dump()
-        return RobotLoadAndEnergyChange(**my_params)
-
-    def pin_centre_then_xray_centre_params(self):
-        my_params = self.model_dump()
-        del my_params["thawing_time"]
-        return PinTipCentreThenXrayCentre(**my_params)
-
 
 class GridScanWithEdgeDetect(GridCommon):
     box_size_um: float = Field(default=GridscanParamConstants.BOX_WIDTH_UM)

src/mx_bluesky/common/parameters/robot_load.py

@@ -8,9 +8,23 @@
     WithVisit,
 )
 from mx_bluesky.common.parameters.constants import HardwareConstants
+from mx_bluesky.common.parameters.gridscan import GridCommon, PinTipCentreThenXrayCentre
 
 
 class RobotLoadAndEnergyChange(
     MxBlueskyParameters, WithSample, WithSnapshot, WithOptionalEnergyChange, WithVisit
 ):
     thawing_time: float = Field(default=HardwareConstants.THAWING_TIME)
+
+
+class RobotLoadThenCentre(GridCommon):
+    thawing_time: float = Field(default=HardwareConstants.THAWING_TIME)
+
+    def robot_load_params(self):
+        my_params = self.model_dump()
+        return RobotLoadAndEnergyChange(**my_params)
+
+    def pin_centre_then_xray_centre_params(self):
+        my_params = self.model_dump()
+        del my_params["thawing_time"]
+        return PinTipCentreThenXrayCentre(**my_params)

src/mx_bluesky/hyperion/experiment_plans/experiment_registry.py

@@ -8,7 +8,6 @@
 from mx_bluesky.common.parameters.gridscan import (
     GridScanWithEdgeDetect,
     PinTipCentreThenXrayCentre,
-    RobotLoadThenCentre,
 )
 from mx_bluesky.hyperion.experiment_plans import (
     grid_detect_then_xray_centre_plan,
@@ -25,6 +24,7 @@
 )
 from mx_bluesky.hyperion.parameters.gridscan import HyperionThreeDGridScan
 from mx_bluesky.hyperion.parameters.load_centre_collect import LoadCentreCollect
+from mx_bluesky.hyperion.parameters.robot_load import HyperionRobotLoadThenCentre
 from mx_bluesky.hyperion.parameters.rotation import MultiRotationScan, RotationScan
 
 
@@ -44,8 +44,8 @@ class ExperimentRegistryEntry(TypedDict):
         | RotationScan
         | MultiRotationScan
         | PinTipCentreThenXrayCentre
-        | RobotLoadThenCentre
         | LoadCentreCollect
+        | HyperionRobotLoadThenCentre
     ]
     callbacks_factory: CallbacksFactory
 
@@ -73,7 +73,7 @@ class ExperimentRegistryEntry(TypedDict):
     },
     "robot_load_then_centre": {
         "setup": robot_load_then_centre_plan.create_devices,
-        "param_type": RobotLoadThenCentre,
+        "param_type": HyperionRobotLoadThenCentre,
         "callbacks_factory": create_robot_load_and_centre_callbacks,
     },
     "multi_rotation_scan": {

src/mx_bluesky/hyperion/experiment_plans/robot_load_then_centre_plan.py

@@ -37,7 +37,6 @@
 from ophyd_async.fastcs.panda import HDFPanda
 
 from mx_bluesky.common.parameters.constants import OavConstants
-from mx_bluesky.common.parameters.gridscan import RobotLoadThenCentre
 from mx_bluesky.hyperion.device_setup_plans.utils import (
     fill_in_energy_if_not_supplied,
     start_preparing_data_collection_then_do_plan,
@@ -64,6 +63,7 @@
     set_energy_plan,
 )
 from mx_bluesky.hyperion.parameters.constants import CONST
+from mx_bluesky.hyperion.parameters.robot_load import HyperionRobotLoadThenCentre
 
 
 @pydantic.dataclasses.dataclass(config={"arbitrary_types_allowed": True})
@@ -113,7 +113,7 @@ def create_devices(context: BlueskyContext) -> RobotLoadThenCentreComposite:
 
 def _flyscan_plan_from_robot_load_params(
     composite: RobotLoadThenCentreComposite,
-    params: RobotLoadThenCentre,
+    params: HyperionRobotLoadThenCentre,
     oav_config_file: str = OavConstants.OAV_CONFIG_JSON,
 ):
     yield from pin_centre_then_flyscan_plan(
@@ -124,7 +124,7 @@ def _flyscan_plan_from_robot_load_params(
 
 def _robot_load_then_flyscan_plan(
     composite: RobotLoadThenCentreComposite,
-    params: RobotLoadThenCentre,
+    params: HyperionRobotLoadThenCentre,
     oav_config_file: str = OavConstants.OAV_CONFIG_JSON,
 ):
     yield from robot_load_and_change_energy_plan(
@@ -137,7 +137,7 @@ def _robot_load_then_flyscan_plan(
 
 def robot_load_then_centre(
     composite: RobotLoadThenCentreComposite,
-    parameters: RobotLoadThenCentre,
+    parameters: HyperionRobotLoadThenCentre,
 ) -> MsgGenerator:
     """Perform pin-tip detection followed by a flyscan to determine centres of interest.
     Performs a robot load if necessary. Centre on the best diffracting centre.
@@ -158,7 +158,7 @@ def robot_load_then_centre(
 
 def robot_load_then_xray_centre(
     composite: RobotLoadThenCentreComposite,
-    parameters: RobotLoadThenCentre,
+    parameters: HyperionRobotLoadThenCentre,
 ) -> MsgGenerator:
     """Perform pin-tip detection followed by a flyscan to determine centres of interest.
     Performs a robot load if necessary."""

src/mx_bluesky/hyperion/parameters/components.py

@@ -1,7 +1,8 @@
-from pydantic import BaseModel, Field
+from pydantic import Field
 
+from mx_bluesky.common.parameters.components import WithPandaGridScan
 from mx_bluesky.hyperion.external_interaction.config_server import HyperionFeatureFlags
 
 
-class WithHyperionFeatures(BaseModel):
+class WithHyperionUDCFeatures(WithPandaGridScan):
     features: HyperionFeatureFlags = Field(default=HyperionFeatureFlags())

src/mx_bluesky/hyperion/parameters/gridscan.py

@@ -8,21 +8,16 @@
     ZebraGridScanParams,
 )
 
-from mx_bluesky.common.parameters.components import (
-    WithPandaGridScan,
-)
 from mx_bluesky.common.parameters.gridscan import (
+    GridScanWithEdgeDetect,
+    PinTipCentreThenXrayCentre,
     ThreeDGridScan,
 )
-from mx_bluesky.hyperion.parameters.components import WithHyperionFeatures
+from mx_bluesky.hyperion.parameters.components import WithHyperionUDCFeatures
 from mx_bluesky.hyperion.parameters.constants import CONST, I03Constants
 
 
-class HyperionThreeDGridScan(
-    ThreeDGridScan,
-    WithPandaGridScan,
-    WithHyperionFeatures,
-):
+class HyperionThreeDGridScan(ThreeDGridScan, WithHyperionUDCFeatures):
     """Hyperion's 3D grid scan varies from the common class due to: optionally using a PandA, optionally using dev_shm for GPU analysis, and using a config server for features"""
 
     # These detector params only exist so that we can properly select enable_dev_shm. Remove in
@@ -103,3 +98,13 @@ def panda_FGS_params(self) -> PandAGridScanParams:
 
 
 class OddYStepsException(Exception): ...
+
+
+class HyperionPinTipCentreThenXrayCentre(
+    PinTipCentreThenXrayCentre, WithHyperionUDCFeatures
+): ...
+
+
+class HyperionGridScanWithEdgeDetect(
+    GridScanWithEdgeDetect, WithHyperionUDCFeatures
+): ...

src/mx_bluesky/hyperion/parameters/load_centre_collect.py

@@ -8,8 +8,9 @@
     WithSample,
     WithVisit,
 )
-from mx_bluesky.common.parameters.gridscan import (
-    RobotLoadThenCentre,
+from mx_bluesky.hyperion.parameters.components import WithHyperionUDCFeatures
+from mx_bluesky.hyperion.parameters.robot_load import (
+    HyperionRobotLoadThenCentre,
 )
 from mx_bluesky.hyperion.parameters.rotation import MultiRotationScan
 
@@ -23,20 +24,24 @@ def construct_from_values(parent_context: dict, child_dict: dict, t: type[T]) ->
 
 
 class LoadCentreCollect(
-    MxBlueskyParameters, WithVisit, WithSample, WithCentreSelection
+    MxBlueskyParameters,
+    WithVisit,
+    WithSample,
+    WithCentreSelection,
+    WithHyperionUDCFeatures,
 ):
     """Experiment parameters to perform the combined robot load,
     pin-tip centre and rotation scan operations."""
 
-    robot_load_then_centre: RobotLoadThenCentre
+    robot_load_then_centre: HyperionRobotLoadThenCentre
     multi_rotation_scan: MultiRotationScan
 
     @model_validator(mode="before")
     @classmethod
     def validate_model(cls, values):
         allowed_keys = (
             LoadCentreCollect.model_fields.keys()
-            | RobotLoadThenCentre.model_fields.keys()
+            | HyperionRobotLoadThenCentre.model_fields.keys()
             | MultiRotationScan.model_fields.keys()
         )
 
@@ -66,7 +71,7 @@ def validate_model(cls, values):
         )
 
         new_robot_load_then_centre_params = construct_from_values(
-            values, values["robot_load_then_centre"], RobotLoadThenCentre
+            values, values["robot_load_then_centre"], HyperionRobotLoadThenCentre
         )
         new_multi_rotation_scan_params = construct_from_values(
             values, values["multi_rotation_scan"], MultiRotationScan

src/mx_bluesky/hyperion/parameters/robot_load.py

@@ -0,0 +1,23 @@
+from pydantic import Field
+
+from mx_bluesky.common.parameters.constants import HardwareConstants
+from mx_bluesky.common.parameters.robot_load import (
+    RobotLoadAndEnergyChange,
+    RobotLoadThenCentre,
+)
+from mx_bluesky.hyperion.parameters.components import WithHyperionUDCFeatures
+from mx_bluesky.hyperion.parameters.gridscan import HyperionPinTipCentreThenXrayCentre
+
+
+class HyperionRobotLoadThenCentre(RobotLoadThenCentre, WithHyperionUDCFeatures):
+    thawing_time: float = Field(default=HardwareConstants.THAWING_TIME)
+    tip_offset_um: float = Field(default=HardwareConstants.TIP_OFFSET_UM)
+
+    def robot_load_params(self):
+        my_params = self.model_dump()
+        return RobotLoadAndEnergyChange(**my_params)
+
+    def pin_centre_then_xray_centre_params(self):
+        my_params = self.model_dump()
+        del my_params["thawing_time"]
+        return HyperionPinTipCentreThenXrayCentre(**my_params)

src/mx_bluesky/hyperion/parameters/rotation.py

@@ -26,7 +26,7 @@
     SplitScan,
     WithScan,
 )
-from mx_bluesky.hyperion.parameters.components import WithHyperionFeatures
+from mx_bluesky.hyperion.parameters.components import WithHyperionUDCFeatures
 from mx_bluesky.hyperion.parameters.constants import (
     CONST,
     I03Constants,
@@ -53,7 +53,7 @@ class RotationScanPerSweep(OptionalGonioAngleStarts, OptionalXyzStarts):
     nexus_vds_start_img: int = Field(default=0, ge=0)
 
 
-class RotationExperiment(DiffractionExperimentWithSample, WithHyperionFeatures):
+class RotationExperiment(DiffractionExperimentWithSample, WithHyperionUDCFeatures):
     shutter_opening_time_s: float = Field(default=CONST.I03.SHUTTER_TIME_S)
     rotation_increment_deg: float = Field(default=0.1, gt=0)
     ispyb_experiment_type: IspybExperimentType = Field(

tests/test_data/parameter_json_files/good_test_load_centre_collect_params.json

@@ -15,7 +15,9 @@
         "exposure_time_s": 0.004,
         "use_roi_mode": false,
         "demand_energy_ev": 11100,
-        "run_number": 0
+        "run_number": 0,
+        "features": {"use_panda_for_gridscan": false, "compare_cpu_and_gpu_zocalo": true},
+        "panda_runup_distance_mm": 0.17
     },
     "multi_rotation_scan": {
         "comment": "Rotation",