Async shutters

src/firefly/run_browser.ui

@@ -178,7 +178,7 @@
          <item>
           <widget class="QLabel" name="sleep_label">
            <property name="text">
-            <string>&lt;- Press the button</string>
+            <string>⬅ Press the button</string>
            </property>
           </widget>
          </item>

src/firefly/status.py

@@ -38,8 +38,7 @@ def add_shutter_widgets(self):
         for shutter in shutters[::-1]:
             # Add a layout with the buttons
             layout = QHBoxLayout()
-            name = shutter.attr_name if shutter.attr_name != "" else shutter.name
-            label = name_to_title(name) + ":"
+            label = name_to_title(shutter.name) + ":"
             form.insertRow(row_idx, label, layout)
             # Indicator to show if the shutter is open
             indicator = PyDMByteIndicator(
@@ -62,6 +61,7 @@ def add_shutter_widgets(self):
                 relative=False,
                 init_channel=f"haven://{shutter.name}.setpoint",
             )
+            print(f"{shutter.name} - {getattr(shutter, 'allow_open', True)=}")
             open_btn.setEnabled(getattr(shutter, "allow_open", True))
             layout.addWidget(open_btn)
             # Button to close the shutter

src/haven/devices/motor.py

@@ -4,57 +4,17 @@
 from apstools.utils.misc import safe_ophyd_name
 from ophyd import Component as Cpt
 from ophyd import EpicsMotor, EpicsSignal, EpicsSignalRO, Kind
-from ophyd_async.core import (
-    CALCULATE_TIMEOUT,
-    DEFAULT_TIMEOUT,
-    AsyncStatus,
-    CalculatableTimeout,
-    ConfigSignal,
-    SignalBackend,
-    SignalX,
-    SubsetEnum,
-)
+from ophyd_async.core import DEFAULT_TIMEOUT, ConfigSignal, SubsetEnum
 from ophyd_async.epics.motor import Motor as MotorBase
 from ophyd_async.epics.signal import epics_signal_r, epics_signal_rw
-from ophyd_async.epics.signal._signal import _epics_signal_backend
 from ophydregistry import Registry
 
 from .motor_flyer import MotorFlyer
+from .signal import epics_signal_xval
 
 log = logging.getLogger(__name__)
 
 
-class SignalX(SignalX):
-    trigger_value = 1
-
-    def __init__(self, *args, trigger_value=1, **kwargs):
-        self.trigger_value = trigger_value
-        super().__init__(*args, **kwargs)
-
-    def trigger(
-        self, wait=False, timeout: CalculatableTimeout = CALCULATE_TIMEOUT
-    ) -> AsyncStatus:
-        """Trigger the action and return a status saying when it's done"""
-        if timeout is CALCULATE_TIMEOUT:
-            timeout = self._timeout
-        coro = self._backend.put(self.trigger_value, wait=wait, timeout=timeout)
-        return AsyncStatus(coro)
-
-
-def epics_signal_x(write_pv: str, name: str = "", trigger_value=1) -> SignalX:
-    """Create a `SignalX` backed by 1 EPICS PVs
-
-    Parameters
-    ----------
-    write_pv:
-      The PV to write its initial value to on trigger
-    trigger_value:
-      The value to send to the write PV.
-    """
-    backend: SignalBackend = _epics_signal_backend(None, write_pv, write_pv)
-    return SignalX(backend, name=name, trigger_value=trigger_value)
-
-
 class Motor(MotorBase):
     """The default motor for asynchrnous movement."""
 
@@ -94,7 +54,7 @@ def __init__(
         # Load all the parent signals
         super().__init__(prefix=prefix, name=name)
         # Override the motor stop signal to use the right trigger value
-        self.motor_stop = epics_signal_x(f"{prefix}.STOP")
+        self.motor_stop = epics_signal_xval(f"{prefix}.STOP")
         self.set_name(self.name)
 
     async def connect(

src/haven/devices/shutter.py

@@ -1,13 +1,14 @@
 import logging
 import warnings
 from enum import IntEnum, unique
+from typing import Mapping
 
-from ophyd import Component as Cpt
-from ophyd import EpicsSignal, EpicsSignalRO
-from ophyd.pv_positioner import PVPositionerIsClose
 from ophyd.utils.errors import ReadOnlyError
-from pcdsdevices.signal import MultiDerivedSignal
-from pcdsdevices.type_hints import SignalToValue
+from ophyd_async.core import soft_signal_rw
+from ophyd_async.epics.signal import epics_signal_r
+
+from ..positioner import Positioner
+from .signal import derived_signal_rw, epics_signal_xval
 
 # from apstools.devices.shutters import ApsPssShutterWithStatus as Shutter
 
@@ -23,7 +24,8 @@ class ShutterState(IntEnum):
     UNKNOWN = 4  # 0b100
 
 
-class PssShutter(PVPositionerIsClose):
+class PssShutter(Positioner):
+    _ophyd_labels_ = {"shutters"}
     _last_setpoint: int = ShutterState.UNKNOWN
     allow_open: bool
     allow_close: bool
@@ -39,7 +41,25 @@ def __init__(
     ):
         self.allow_open = allow_open
         self.allow_close = allow_close
-        super().__init__(prefix=prefix, name=name, labels=labels, **kwargs)
+        # Actuators for opening/closing the shutter
+        self.open_signal = epics_signal_xval(f"{prefix}OpenEPICSC")
+        self.close_signal = epics_signal_xval(f"{prefix}CloseEPICSC")
+        # Just use convenient values for these since there's no real position
+        self.velocity = soft_signal_rw(float, initial_value=0.5)
+        self.units = soft_signal_rw(str, initial_value="")
+        self.precision = soft_signal_rw(int, initial_value=0)
+        # Positioner signals for moving the shutter
+        self.readback = epics_signal_r(bool, f"{prefix}BeamBlockingM.VAL")
+        self.setpoint = derived_signal_rw(
+            int,
+            derived_from={
+                "open_signal": self.open_signal,
+                "close_signal": self.close_signal,
+            },
+            forward=self._actuate_shutter,
+            inverse=self._shutter_setpoint,
+        )
+        super().__init__(name=name, **kwargs)
 
     def check_value(self, pos):
         """Check that the shutter has the right permissions."""
@@ -52,20 +72,21 @@ def check_value(self, pos):
                 f"Shutter {self.name} is not permitted to be opened per iconfig.toml. Set `allow_open` for this shutter."
             )
 
-    def _actuate_shutter(self, mds: MultiDerivedSignal, value: int) -> SignalToValue:
+    async def _actuate_shutter(self, value: int, open_signal, close_signal) -> Mapping:
         """Open/close the shutter using derived-from signals."""
+        self.check_value(value)
         if value == ShutterState.OPEN:
-            items = {self.open_signal: 1}
+            items = {open_signal: 1}
         elif value == ShutterState.CLOSED:
-            items = {self.close_signal: 1}
+            items = {close_signal: 1}
         else:
             raise ValueError(f"Invalid shutter state for {self}")
         return items
 
-    def _shutter_setpoint(self, mds: MultiDerivedSignal, items: SignalToValue) -> int:
+    def _shutter_setpoint(self, values: Mapping, open_signal, close_signal) -> int:
         """Determine whether the shutter was last opened or closed."""
-        do_open = items[self.open_signal]
-        do_close = items[self.close_signal]
+        do_open = values[open_signal]
+        do_close = values[close_signal]
         if do_open and do_close:
             # Shutter is both opening and closing??
             warnings.warn("Unknown shutter setpoint")
@@ -76,16 +97,6 @@ def _shutter_setpoint(self, mds: MultiDerivedSignal, items: SignalToValue) -> in
             self._last_setpoint = ShutterState.CLOSED
         return self._last_setpoint
 
-    readback = Cpt(EpicsSignalRO, "BeamBlockingM.VAL")
-    setpoint = Cpt(
-        MultiDerivedSignal,
-        attrs=["open_signal", "close_signal"],
-        calculate_on_put=_actuate_shutter,
-        calculate_on_get=_shutter_setpoint,
-    )
-    open_signal = Cpt(EpicsSignal, "OpenEPICSC", kind="omitted")
-    close_signal = Cpt(EpicsSignal, "CloseEPICSC", kind="omitted")
-
 
 # -----------------------------------------------------------------------------
 # :author:    Mark Wolfman

src/haven/devices/signal.py

@@ -7,15 +7,20 @@
 import numpy as np
 from bluesky.protocols import Reading, Subscribable
 from ophyd_async.core import (
+    CALCULATE_TIMEOUT,
     DEFAULT_TIMEOUT,
+    AsyncStatus,
+    CalculatableTimeout,
     ReadingValueCallback,
+    SignalBackend,
     SignalMetadata,
     SignalR,
     SignalRW,
     SignalX,
     SoftSignalBackend,
     T,
 )
+from ophyd_async.epics.signal._signal import _epics_signal_backend
 
 
 class DerivedSignalBackend(SoftSignalBackend):
@@ -195,8 +200,17 @@ async def get_reading(self) -> Reading:
         return self.combine_readings(readings)
 
     async def get_value(self) -> T:
+        # Sort out which types of signals we have
+        gettable_signals = [
+            sig for sig in self._derived_from.values() if hasattr(sig, "get_value")
+        ]
         # Retrieve current values from signals
-        values = {sig: (await sig.get_value()) for sig in self._derived_from.values()}
+        values = await asyncio.gather(*(sig.get_value() for sig in gettable_signals))
+        values = {sig: val for sig, val in zip(gettable_signals, values)}
+        # Set default value of None for missing signals
+        for sig in self._derived_from.values():
+            values.setdefault(sig, None)
+        # Compute the new value
         new_value = self.inverse(values, **self._derived_from)
         return self.converter.value(new_value)
 
@@ -417,3 +431,37 @@ def __init__(self, prefix, name="", **kwargs):
     )
     signal = SignalX(backend, name=name)
     return signal
+
+
+class SignalXVal(SignalX):
+    trigger_value = 1
+
+    def __init__(self, *args, trigger_value=1, **kwargs):
+        self.trigger_value = trigger_value
+        super().__init__(*args, **kwargs)
+
+    def trigger(
+        self, wait=False, timeout: CalculatableTimeout = CALCULATE_TIMEOUT
+    ) -> AsyncStatus:
+        """Trigger the action and return a status saying when it's done"""
+        if timeout is CALCULATE_TIMEOUT:
+            timeout = self._timeout
+        coro = self._backend.put(self.trigger_value, wait=wait, timeout=timeout)
+        return AsyncStatus(coro)
+
+
+def epics_signal_xval(write_pv: str, name: str = "", trigger_value=1) -> SignalXVal:
+    """Create a `SignalX` backed by 1 EPICS PVs. This differs from the
+    standard ophyd-async trigger in that it accepts a prescribed
+    *trigger_value* that will be sent to the PV when triggered.
+
+        Parameters
+        ----------
+        write_pv:
+          The PV to write its initial value to on trigger
+        trigger_value:
+          The value to send to the write PV.
+
+    """
+    backend: SignalBackend = _epics_signal_backend(None, write_pv, write_pv)
+    return SignalXVal(backend, name=name, trigger_value=trigger_value)

src/haven/iconfig_testing.toml

@@ -58,7 +58,6 @@ prefix = "S255ID-PSS:FES:"
 allow_close = false
 # allow_open = true  # Default
 
-
 [[ pss_shutter ]]
 name = "hutch_shutter"
 prefix = "S255ID-PSS:SCS:"

src/haven/instrument.py

@@ -379,6 +379,7 @@ async def load(
         "aerotech_stage": AerotechStage,
         "motor": Motor,
         "energy": EnergyPositioner,
+        "pss_shutter": PssShutter,
         # Threaded ophyd devices
         "blade_slits": BladeSlits,
         "aperture_slits": ApertureSlits,
@@ -387,7 +388,6 @@ async def load(
         "synchrotron": ApsMachine,
         "robot": Robot,
         "pfcu4": PFCUFilterBank,  # <-- fails if mocked
-        "pss_shutter": PssShutter,
         "xspress": make_xspress_device,
         "dxp": make_dxp_device,
         "beamline_manager": BeamlineManager,

src/haven/positioner.py

@@ -1,7 +1,7 @@
 import asyncio
 import logging
-from functools import partial
 import warnings
+from functools import partial
 
 import numpy as np
 from bluesky.protocols import Movable, Stoppable
@@ -107,12 +107,12 @@ async def set(self, value: float, timeout: CalculatableTimeout = CALCULATE_TIMEO
                     self.watch_done, done_event=done_event, started_event=started_event
                 )
             )
-            done_status = AsyncStatus(asyncio.wait_for(done_event.wait(), timeout))
+            aws = asyncio.gather(done_event.wait(), set_status)
+            done_status = AsyncStatus(asyncio.wait_for(aws, timeout))
         else:
             # Monitor based on readback position
-            done_status = AsyncStatus(
-                asyncio.wait_for(reached_setpoint.wait(), timeout)
-            )
+            aws = asyncio.gather(reached_setpoint.wait(), set_status)
+            done_status = AsyncStatus(asyncio.wait_for(aws, timeout))
         # Monitor the position of the readback value
         async for current_position in observe_value(
             self.readback, done_status=done_status