Thaw for a set time straight after robot load (#1440)

* Thaw for a set time straight after robot load

* Added test to confirm thawing is turned on for robot_load

setup.cfg

@@ -46,8 +46,7 @@ install_requires =
     ophyd-async >= 0.3a5
     bluesky >= 1.13.0a3
     blueapi >= 0.4.3-rc1
-    # needed for CI while xpress is broken, remove on merging
-    dls-dodal @ git+https://github.com/DiamondLightSource/dodal.git
+    dls-dodal @ git+https://github.com/DiamondLightSource/dodal.git@a9a116d289abc9e67ce8db08f978ff502705b464
 
 [options.entry_points]
 console_scripts =

src/hyperion/experiment_plans/robot_load_then_centre_plan.py

@@ -23,6 +23,7 @@
 from dodal.devices.s4_slit_gaps import S4SlitGaps
 from dodal.devices.smargon import Smargon, StubPosition
 from dodal.devices.synchrotron import Synchrotron
+from dodal.devices.thawer import Thawer
 from dodal.devices.undulator import Undulator
 from dodal.devices.undulator_dcm import UndulatorDCM
 from dodal.devices.webcam import Webcam
@@ -73,6 +74,7 @@ class RobotLoadThenCentreComposite:
     zocalo: ZocaloResults
     panda: HDFPanda
     panda_fast_grid_scan: PandAFastGridScan
+    thawer: Thawer
 
     # SetEnergyComposite fields
     vfm: FocusingMirrorWithStripes
@@ -182,6 +184,7 @@ def robot_load():
 
         yield from bps.wait("robot_load")
 
+        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(

src/hyperion/parameters/constants.py

@@ -97,6 +97,7 @@ class I03Constants:
     SHUTTER_TIME_S = 0.06
     USE_PANDA_FOR_GRIDSCAN = False
     USE_GPU_FOR_GRIDSCAN_ANALYSIS = False
+    THAWING_TIME = 20
 
 
 @dataclass(frozen=True)

src/hyperion/parameters/gridscan.py

@@ -102,9 +102,12 @@ class PinTipCentreThenXrayCentre(GridCommon):
 
 
 class RobotLoadThenCentre(GridCommon):
+    thawing_time: float = Field(default=CONST.I03.THAWING_TIME)
+
     def pin_centre_then_xray_centre_params(self):
-        params = PinTipCentreThenXrayCentre(**self.dict())
-        return params
+        my_params = self.dict()
+        del my_params["thawing_time"]
+        return PinTipCentreThenXrayCentre(**my_params)
 
 
 class SpecifiedGridScan(GridCommon, XyzStarts, WithScan):

tests/conftest.py

@@ -36,6 +36,7 @@
 from dodal.devices.s4_slit_gaps import S4SlitGaps
 from dodal.devices.smargon import Smargon
 from dodal.devices.synchrotron import Synchrotron, SynchrotronMode
+from dodal.devices.thawer import Thawer
 from dodal.devices.undulator import Undulator
 from dodal.devices.webcam import Webcam
 from dodal.devices.zebra import Zebra
@@ -444,6 +445,11 @@ def webcam(RE) -> Generator[Webcam, Any, Any]:
         yield webcam
 
 
+@pytest.fixture
+def thawer(RE) -> Generator[Thawer, Any, Any]:
+    yield i03.thawer(fake_with_ophyd_sim=True)
+
+
 @pytest.fixture
 def aperture_scatterguard(RE):
     AperturePositions.LARGE = SingleAperturePosition(

tests/unit_tests/experiment_plans/test_wait_for_robot_load_then_centre.py

@@ -28,7 +28,7 @@
 
 @pytest.fixture
 def robot_load_composite(
-    smargon, dcm, robot, aperture_scatterguard, oav, webcam
+    smargon, dcm, robot, aperture_scatterguard, oav, webcam, thawer
 ) -> RobotLoadThenCentreComposite:
     composite: RobotLoadThenCentreComposite = MagicMock()
     composite.smargon = smargon
@@ -40,6 +40,7 @@ def robot_load_composite(
     composite.aperture_scatterguard.set = MagicMock(return_value=NullStatus())
     composite.oav = oav
     composite.webcam = webcam
+    composite.thawer = thawer
     return composite
 
 
@@ -353,3 +354,39 @@ async def test_when_take_snapshots_called_then_filename_and_directory_set_and_de
     webcam.trigger.assert_called_once()
     assert (await webcam.filename.get_value()) == "TIME_webcam_after_load"
     assert (await webcam.directory.get_value()) == TEST_DIRECTORY
+
+
+@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_thawing_turned_on_for_expected_time(
+    mock_centring_plan: MagicMock,
+    robot_load_composite: RobotLoadThenCentreComposite,
+    robot_load_then_centre_params_no_energy: RobotLoadThenCentre,
+    sim_run_engine,
+):
+    robot_load_then_centre_params_no_energy.thawing_time = (thaw_time := 50)
+
+    sim_run_engine.add_handler(
+        "read",
+        "dcm-energy_in_kev",
+        lambda msg: {"dcm-energy_in_kev": {"value": 11.105}},
+    )
+
+    messages = sim_run_engine.simulate_plan(
+        robot_load_then_centre(
+            robot_load_composite,
+            robot_load_then_centre_params_no_energy,
+        )
+    )
+
+    sim_run_engine.assert_message_and_return_remaining(
+        messages,
+        lambda msg: msg.command == "set"
+        and msg.obj.name == "thawer-thaw_for_time_s"
+        and msg.args[0] == thaw_time,
+    )