Wait in parallel before arming panda

src/hyperion/device_setup_plans/setup_panda.py

@@ -163,22 +163,26 @@ def setup_panda_for_flyscan(
 
     LOGGER.info(f"Setting PandA sequencer values: {str(table)}")
 
-    # Wait here since table values should be set before we arm the sequencer block
-    yield from bps.abs_set(panda.seq[1].table, table, wait=True)
+    yield from bps.abs_set(panda.seq[1].table, table, group="panda-config")
 
-    # Wait here since we need PCAP to be enabled before armed
-    yield from bps.abs_set(panda.pcap.enable, Enabled.ENABLED.value, wait=True)  # type: ignore
-
-    yield from arm_panda_for_gridscan(panda, group="panda-config")
+    yield from bps.abs_set(
+        panda.pcap.enable,  # type: ignore
+        Enabled.ENABLED.value,
+        group="panda-config",
+    )
 
+    # Values need to be set before blocks are enabled, so wait here
     yield from bps.wait(group="panda-config", timeout=GENERAL_TIMEOUT)
 
+    yield from arm_panda_for_gridscan(panda)
+
 
 def arm_panda_for_gridscan(panda: PandA, 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
     yield from bps.abs_set(panda.pcap.arm, PcapArm.ARMED.value, group=group)  # type: ignore
+    yield from bps.wait(group=group, timeout=GENERAL_TIMEOUT)
 
 
 def disarm_panda_for_gridscan(panda, group="disarm_panda_gridscan") -> MsgGenerator:

tests/unit_tests/device_setup_plans/test_setup_panda.py

@@ -61,7 +61,7 @@ def test_setup_panda_performs_correct_plans(mock_load_device):
     )
     mock_load_device.assert_called_once()
     assert num_of_sets == 9
-    assert num_of_waits == 4
+    assert num_of_waits == 3
 
 
 @pytest.mark.parametrize(
@@ -155,28 +155,27 @@ def test_setup_panda_correctly_configures_table(
 
 
 def test_wait_between_setting_table_and_arming_panda(RE: RunEngine):
-    wait_for_set_table = False
-
-    def handle_set(*args, **kwargs):
-        nonlocal wait_for_set_table
-        if "wait" in kwargs.keys() and isinstance(args[1], dict):
-            # Check that sequencer table has been set and waited on
-            if kwargs["wait"] and "outa2" in args[1].keys():
-                wait_for_set_table = True
+    bps_wait_done = False
+
+    def handle_wait(*args, **kwargs):
+        nonlocal bps_wait_done
+        bps_wait_done = True
         yield from null()
 
     def assert_set_table_has_been_waited_on(*args, **kwargs):
-        assert wait_for_set_table
+        assert bps_wait_done
         yield from null()
 
     with patch(
         "hyperion.device_setup_plans.setup_panda.arm_panda_for_gridscan",
         MagicMock(side_effect=assert_set_table_has_been_waited_on),
     ), patch(
-        "hyperion.device_setup_plans.setup_panda.bps.abs_set",
-        MagicMock(side_effect=handle_set),
+        "hyperion.device_setup_plans.setup_panda.bps.wait",
+        MagicMock(side_effect=handle_wait),
     ), patch(
         "hyperion.device_setup_plans.setup_panda.load_device"
+    ), patch(
+        "hyperion.device_setup_plans.setup_panda.bps.abs_set"
     ):
         RE(
             setup_panda_for_flyscan(