Ophyd pin-tip centring

setup.cfg

@@ -35,7 +35,7 @@ install_requires =
     xarray
     doct
     databroker
-    dls-dodal @ git+https://github.com/DiamondLightSource/dodal.git@9129f255066131bf7ca5d1a19d4e19b91eb77263
+    dls-dodal @ git+https://github.com/DiamondLightSource/dodal.git@15fc272e365fd6a52af2b7ef1e16ca5bf7ba868e
     pydantic<2.0 # See https://github.com/DiamondLightSource/hyperion/issues/774
     scipy
     zmq

src/hyperion/device_setup_plans/setup_oav.py

@@ -4,10 +4,12 @@
 import bluesky.plan_stubs as bps
 import numpy as np
 from bluesky.utils import Msg
+from dodal.devices.areadetector.plugins.MXSC import MXSC
 from dodal.devices.oav.oav_calculations import camera_coordinates_to_xyz
-from dodal.devices.oav.oav_detector import MXSC, OAV, OAVConfigParams
+from dodal.devices.oav.oav_detector import OAV, OAVConfigParams
 from dodal.devices.oav.oav_errors import OAVError_ZoomLevelNotFound
 from dodal.devices.oav.oav_parameters import OAVParameters
+from dodal.devices.oav.pin_image_recognition import PinTipDetection
 from dodal.devices.oav.utils import ColorMode, EdgeOutputArrayImageType
 from dodal.devices.smargon import Smargon
 
@@ -55,40 +57,63 @@ def start_mxsc(oav: OAV, min_callback_time, filename):
     yield from set_using_group(oav.mxsc.output_array, EdgeOutputArrayImageType.ORIGINAL)
 
 
-def pre_centring_setup_oav(oav: OAV, parameters: OAVParameters):
-    """Setup OAV PVs with required values."""
-    yield from set_using_group(oav.cam.color_mode, ColorMode.RGB1)
-    yield from set_using_group(oav.cam.acquire_period, parameters.acquire_period)
-    yield from set_using_group(oav.cam.acquire_time, parameters.exposure)
-    yield from set_using_group(oav.cam.gain, parameters.gain)
-
+def setup_pin_tip_detection_params(
+    pin_tip_detect_device: MXSC | PinTipDetection, parameters: OAVParameters
+):
     # select which blur to apply to image
-    yield from set_using_group(oav.mxsc.preprocess_operation, parameters.preprocess)
+    yield from set_using_group(
+        pin_tip_detect_device.preprocess_operation, parameters.preprocess
+    )
 
     # sets length scale for blurring
-    yield from set_using_group(oav.mxsc.preprocess_ksize, parameters.preprocess_K_size)
+    yield from set_using_group(
+        pin_tip_detect_device.preprocess_ksize, parameters.preprocess_K_size
+    )
 
-    # Canny edge detect
+    # Canny edge detect - lower
     yield from set_using_group(
-        oav.mxsc.canny_lower_threshold,
+        pin_tip_detect_device.canny_lower_threshold,
         parameters.canny_edge_lower_threshold,
     )
+
+    # Canny edge detect - upper
     yield from set_using_group(
-        oav.mxsc.canny_upper_threshold,
+        pin_tip_detect_device.canny_upper_threshold,
         parameters.canny_edge_upper_threshold,
     )
+
     # "Close" morphological operation
-    yield from set_using_group(oav.mxsc.close_ksize, parameters.close_ksize)
+    yield from set_using_group(
+        pin_tip_detect_device.close_ksize, parameters.close_ksize
+    )
 
-    # Sample detection
+    # Sample detection direction
     yield from set_using_group(
-        oav.mxsc.sample_detection_scan_direction, parameters.direction
+        pin_tip_detect_device.scan_direction, parameters.direction
     )
+
+    # Minimum height
     yield from set_using_group(
-        oav.mxsc.sample_detection_min_tip_height,
+        pin_tip_detect_device.min_tip_height,
         parameters.minimum_height,
     )
 
+
+def pre_centring_setup_oav(
+    oav: OAV,
+    parameters: OAVParameters,
+    pin_tip_detection_device: PinTipDetection | MXSC,
+):
+    """
+    Setup OAV PVs with required values.
+    """
+    yield from set_using_group(oav.cam.color_mode, ColorMode.RGB1)
+    yield from set_using_group(oav.cam.acquire_period, parameters.acquire_period)
+    yield from set_using_group(oav.cam.acquire_time, parameters.exposure)
+    yield from set_using_group(oav.cam.gain, parameters.gain)
+
+    yield from setup_pin_tip_detection_params(pin_tip_detection_device, parameters)
+
     yield from start_mxsc(
         oav,
         parameters.min_callback_time,
@@ -149,7 +174,9 @@ def get_move_required_so_that_beam_is_at_pixel(
     return calculate_x_y_z_of_pixel(current_motor_xyz, current_angle, pixel, oav_params)
 
 
-def wait_for_tip_to_be_found(mxsc: MXSC) -> Generator[Msg, None, Tuple[int, int]]:
+def wait_for_tip_to_be_found_ad_mxsc(
+    mxsc: MXSC,
+) -> Generator[Msg, None, Tuple[int, int]]:
     pin_tip = mxsc.pin_tip
     yield from bps.trigger(pin_tip, wait=True)
     found_tip = yield from bps.rd(pin_tip)
@@ -163,3 +190,21 @@ def wait_for_tip_to_be_found(mxsc: MXSC) -> Generator[Msg, None, Tuple[int, int]
             f"No pin found after {pin_tip.validity_timeout.get()} seconds"
         )
     return found_tip
+
+
+def wait_for_tip_to_be_found_ophyd(
+    ophyd_pin_tip_detection: PinTipDetection,
+) -> Generator[Msg, None, Tuple[int, int]]:
+    found_tip = yield from bps.rd(ophyd_pin_tip_detection)
+
+    LOGGER.info("Pin tip not found, waiting a second and trying again")
+
+    if found_tip == ophyd_pin_tip_detection.INVALID_POSITION:
+        # Wait a second and then retry
+        yield from bps.sleep(1)
+        found_tip = yield from bps.rd(ophyd_pin_tip_detection)
+
+    if found_tip == ophyd_pin_tip_detection.INVALID_POSITION:
+        raise WarningException("No pin found")
+
+    return found_tip  # type: ignore

src/hyperion/experiment_plans/grid_detect_then_xray_centre_plan.py

@@ -17,6 +17,7 @@
 from dodal.devices.flux import Flux
 from dodal.devices.oav.oav_detector import OAV
 from dodal.devices.oav.oav_parameters import OAV_CONFIG_JSON, OAVParameters
+from dodal.devices.oav.pin_image_recognition import PinTipDetection
 from dodal.devices.s4_slit_gaps import S4SlitGaps
 from dodal.devices.smargon import Smargon
 from dodal.devices.synchrotron import Synchrotron
@@ -71,6 +72,7 @@ class GridDetectThenXRayCentreComposite:
     fast_grid_scan: FastGridScan
     flux: Flux
     oav: OAV
+    pin_tip_detection: PinTipDetection
     smargon: Smargon
     synchrotron: Synchrotron
     s4_slit_gaps: S4SlitGaps
@@ -131,6 +133,7 @@ def run_grid_detection_plan(
             backlight=composite.backlight,
             oav=composite.oav,
             smargon=composite.smargon,
+            pin_tip_detection=composite.pin_tip_detection,
         )
 
         yield from grid_detection_plan(

src/hyperion/experiment_plans/oav_grid_detection_plan.py

@@ -11,15 +11,18 @@
 from bluesky.preprocessors import finalize_wrapper
 from dodal.devices.backlight import Backlight
 from dodal.devices.oav.oav_detector import OAV
+from dodal.devices.oav.pin_image_recognition import PinTipDetection
 from dodal.devices.smargon import Smargon
 
 from hyperion.device_setup_plans.setup_oav import (
     get_move_required_so_that_beam_is_at_pixel,
     pre_centring_setup_oav,
-    wait_for_tip_to_be_found,
+    wait_for_tip_to_be_found_ad_mxsc,
 )
 from hyperion.log import LOGGER
-from hyperion.parameters.constants import OAV_REFRESH_DELAY
+from hyperion.parameters.constants import (
+    OAV_REFRESH_DELAY,
+)
 from hyperion.utils.context import device_composite_from_context
 
 if TYPE_CHECKING:
@@ -33,6 +36,7 @@ class OavGridDetectionComposite:
     backlight: Backlight
     oav: OAV
     smargon: Smargon
+    pin_tip_detection: PinTipDetection
 
 
 def create_devices(context: BlueskyContext) -> OavGridDetectionComposite:
@@ -83,12 +87,13 @@ def grid_detection_main_plan(
     """
     oav: OAV = composite.oav
     smargon: Smargon = composite.smargon
+
     LOGGER.info("OAV Centring: Starting grid detection centring")
 
     yield from bps.wait()
 
     # Set relevant PVs to whatever the config dictates.
-    yield from pre_centring_setup_oav(oav, parameters)
+    yield from pre_centring_setup_oav(oav, parameters, oav.mxsc)
 
     LOGGER.info("OAV Centring: Camera set up")
 
@@ -109,7 +114,7 @@ def grid_detection_main_plan(
         # See #673 for improvements
         yield from bps.sleep(OAV_REFRESH_DELAY)
 
-        tip_x_px, tip_y_px = yield from wait_for_tip_to_be_found(oav.mxsc)
+        tip_x_px, tip_y_px = yield from wait_for_tip_to_be_found_ad_mxsc(oav.mxsc)
 
         LOGGER.info(f"Tip is at x,y: {tip_x_px},{tip_y_px}")
 

src/hyperion/experiment_plans/pin_centre_then_xray_centre_plan.py

@@ -56,13 +56,17 @@ def pin_centre_then_xray_centre_plan(
     oav_config_file = parameters.experiment_params.oav_centring_file
 
     pin_tip_centring_composite = PinTipCentringComposite(
-        oav=composite.oav, smargon=composite.smargon, backlight=composite.backlight
+        oav=composite.oav,
+        smargon=composite.smargon,
+        backlight=composite.backlight,
+        pin_tip_detection=composite.pin_tip_detection,
     )
 
     yield from pin_tip_centre_plan(
         pin_tip_centring_composite,
         parameters.experiment_params.tip_offset_microns,
         oav_config_file,
+        parameters.experiment_params.use_ophyd_pin_tip_detect,
     )
 
     grid_detect_params = create_parameters_for_grid_detection(parameters)

src/hyperion/experiment_plans/pin_tip_centring_plan.py

@@ -5,17 +5,19 @@
 import numpy as np
 from blueapi.core import BlueskyContext
 from bluesky.utils import Msg
-from dodal.devices.areadetector.plugins.MXSC import PinTipDetect
+from dodal.devices.areadetector.plugins.MXSC import MXSC, PinTipDetect
 from dodal.devices.backlight import Backlight
 from dodal.devices.oav.oav_detector import OAV
 from dodal.devices.oav.oav_parameters import OAV_CONFIG_JSON, OAVParameters
+from dodal.devices.oav.pin_image_recognition import PinTipDetection
 from dodal.devices.smargon import Smargon
 
 from hyperion.device_setup_plans.setup_oav import (
     Pixel,
     get_move_required_so_that_beam_is_at_pixel,
     pre_centring_setup_oav,
-    wait_for_tip_to_be_found,
+    wait_for_tip_to_be_found_ad_mxsc,
+    wait_for_tip_to_be_found_ophyd,
 )
 from hyperion.exceptions import WarningException
 from hyperion.log import LOGGER
@@ -32,21 +34,24 @@ class PinTipCentringComposite:
     backlight: Backlight
     oav: OAV
     smargon: Smargon
+    pin_tip_detection: PinTipDetection
 
 
 def create_devices(context: BlueskyContext) -> PinTipCentringComposite:
     return device_composite_from_context(context, PinTipCentringComposite)
 
 
-def trigger_and_return_pin_tip(pin_tip: PinTipDetect) -> Generator[Msg, None, Pixel]:
+def trigger_and_return_pin_tip(
+    pin_tip: PinTipDetect | PinTipDetection,
+) -> Generator[Msg, None, Pixel]:
     yield from bps.trigger(pin_tip, wait=True)
     tip_x_y_px = yield from bps.rd(pin_tip)
     LOGGER.info(f"Pin tip found at {tip_x_y_px}")
     return tip_x_y_px
 
 
 def move_pin_into_view(
-    oav: OAV,
+    pin_tip_device: PinTipDetect | PinTipDetection,
     smargon: Smargon,
     step_size_mm: float = DEFAULT_STEP_SIZE,
     max_steps: int = 2,
@@ -56,7 +61,7 @@ def move_pin_into_view(
     would take it past its limit, it moves to the limit instead.
 
     Args:
-        oav (OAV): The OAV to detect the tip with
+        pin_tip_device (PinTipDetect | PinTipDetection): The device being used to detect the pin
         smargon (Smargon): The gonio to move the tip
         step_size (float, optional): Distance to move the gonio (in mm) for each
                                     step of the search. Defaults to 0.5.
@@ -70,10 +75,10 @@ def move_pin_into_view(
     """
 
     def pin_tip_valid(pin_x: float):
-        return pin_x != 0 and pin_x != oav.mxsc.pin_tip.INVALID_POSITION[0]
+        return pin_x != 0 and pin_x != pin_tip_device.INVALID_POSITION[0]
 
     for _ in range(max_steps):
-        tip_x_px, tip_y_px = yield from trigger_and_return_pin_tip(oav.mxsc.pin_tip)
+        tip_x_px, tip_y_px = yield from trigger_and_return_pin_tip(pin_tip_device)
 
         if pin_tip_valid(tip_x_px):
             return (tip_x_px, tip_y_px)
@@ -97,7 +102,7 @@ def pin_tip_valid(pin_x: float):
         # Some time for the view to settle after the move
         yield from bps.sleep(OAV_REFRESH_DELAY)
 
-    tip_x_px, tip_y_px = yield from trigger_and_return_pin_tip(oav.mxsc.pin_tip)
+    tip_x_px, tip_y_px = yield from trigger_and_return_pin_tip(pin_tip_device)
 
     if not pin_tip_valid(tip_x_px):
         raise WarningException(
@@ -130,6 +135,7 @@ def pin_tip_centre_plan(
     composite: PinTipCentringComposite,
     tip_offset_microns: float,
     oav_config_file: str = OAV_CONFIG_JSON,
+    use_ophyd_pin_tip_detect: bool = False,
 ):
     """Finds the tip of the pin and moves to roughly the centre based on this tip. Does
     this at both the current omega angle and +90 deg from this angle so as to get a
@@ -138,11 +144,21 @@ def pin_tip_centre_plan(
     Args:
         tip_offset_microns (float): The x offset from the tip where the centre is assumed
                                     to be.
+        use_ophyd_pin_tip_detect (bool): If true use the ophyd device to find the tip,
+                                    rather than the AD plugin.
     """
     oav: OAV = composite.oav
     smargon: Smargon = composite.smargon
     oav_params = OAVParameters("pinTipCentring", oav_config_file)
 
+    if use_ophyd_pin_tip_detect:
+        pin_tip_setup = composite.pin_tip_detection
+        pin_tip_detect = composite.pin_tip_detection
+    else:
+        pin_tip_setup = oav.mxsc
+        pin_tip_detect = oav.mxsc.pin_tip
+
+    assert oav.parameters.micronsPerXPixel is not None
     tip_offset_px = int(tip_offset_microns / oav.parameters.micronsPerXPixel)
 
     def offset_and_move(tip: Pixel):
@@ -159,9 +175,11 @@ def offset_and_move(tip: Pixel):
     # See #673 for improvements
     yield from bps.sleep(0.3)
 
-    yield from pre_centring_setup_oav(oav, oav_params)
+    # Set up the old pin tip centring as we will need it for grid detection. Remove once #1068 is done
+    yield from pre_centring_setup_oav(oav, oav_params, oav.mxsc)
+    yield from pre_centring_setup_oav(oav, oav_params, pin_tip_setup)
 
-    tip = yield from move_pin_into_view(oav, smargon)
+    tip = yield from move_pin_into_view(pin_tip_detect, smargon)
     yield from offset_and_move(tip)
 
     yield from bps.mvr(smargon.omega, 90)
@@ -170,5 +188,10 @@ def offset_and_move(tip: Pixel):
     # See #673 for improvements
     yield from bps.sleep(0.3)
 
-    tip = yield from wait_for_tip_to_be_found(oav.mxsc)
+    if isinstance(pin_tip_setup, MXSC):
+        LOGGER.info("Acquiring pin-tip from AD MXSC plugin")
+        tip = yield from wait_for_tip_to_be_found_ad_mxsc(pin_tip_setup)
+    elif isinstance(pin_tip_setup, PinTipDetection):
+        LOGGER.info("Acquiring pin-tip from ophyd device")
+        tip = yield from wait_for_tip_to_be_found_ophyd(pin_tip_setup)
     yield from offset_and_move(tip)

src/hyperion/experiment_plans/wait_for_robot_load_then_centre_plan.py

@@ -15,6 +15,7 @@
 from dodal.devices.flux import Flux
 from dodal.devices.focusing_mirror import FocusingMirror, VFMMirrorVoltages
 from dodal.devices.oav.oav_detector import OAV
+from dodal.devices.oav.pin_image_recognition import PinTipDetection
 from dodal.devices.s4_slit_gaps import S4SlitGaps
 from dodal.devices.smargon import Smargon
 from dodal.devices.synchrotron import Synchrotron
@@ -60,6 +61,7 @@ class WaitForRobotLoadThenCentreComposite:
     fast_grid_scan: FastGridScan
     flux: Flux
     oav: OAV
+    pin_tip_detection: PinTipDetection
     smargon: Smargon
     synchrotron: Synchrotron
     s4_slit_gaps: S4SlitGaps
@@ -132,6 +134,7 @@ def wait_for_robot_load_then_centre_plan(
         fast_grid_scan=composite.fast_grid_scan,
         flux=composite.flux,
         oav=composite.oav,
+        pin_tip_detection=composite.pin_tip_detection,
         smargon=composite.smargon,
         synchrotron=composite.synchrotron,
         s4_slit_gaps=composite.s4_slit_gaps,