1998 fix smargon combined moves

src/mx_bluesky/common/device_setup_plans/manipulate_sample.py

@@ -93,20 +93,17 @@ def move_x_y_z(
         yield from bps.wait(group)
 
 
-def move_phi_chi_omega(
+def move_phi_chi(
     smargon: Smargon,
     phi: float | None = None,
     chi: float | None = None,
-    omega: float | None = None,
     wait=False,
     group="move_phi_chi_omega",
 ):
-    """Move the x, y, and z axes of the given smargon to the specified position. All
+    """Move the phi, chi of the given smargon to the specified position. All
     axes are optional."""
 
-    LOGGER.info(f"Moving smargon to phi, chi, omega: {(phi, chi, omega)}")
-    yield from bps.abs_set(
-        smargon, CombinedMove(phi=phi, chi=chi, omega=omega), group=group
-    )
+    LOGGER.info(f"Moving smargon to phi, chi: {(phi, chi)}")
+    yield from bps.abs_set(smargon, CombinedMove(phi=phi, chi=chi), group=group)
     if wait:
         yield from bps.wait(group)

src/mx_bluesky/common/device_setup_plans/robot_load_unload.py

@@ -63,7 +63,8 @@ def prepare_for_robot_load(
 
     yield from bps.mv(smargon.stub_offsets, StubPosition.RESET_TO_ROBOT_LOAD)
 
-    yield from bps.mv(smargon, CombinedMove(x=0, y=0, z=0, chi=0, phi=0, omega=0))
+    yield from bps.mv(smargon.wrapped_omega.phase, 0)
+    yield from bps.mv(smargon, CombinedMove(x=0, y=0, z=0, chi=0, phi=0))
 
     yield from bps.wait("prepare_robot_load")
 

src/mx_bluesky/hyperion/experiment_plans/pin_centre_then_gridscan_plan.py

@@ -5,7 +5,7 @@
 from dodal.common.beamlines.beamline_utils import get_config_client
 from dodal.devices.oav.oav_parameters import OAVParameters
 
-from mx_bluesky.common.device_setup_plans.manipulate_sample import move_phi_chi_omega
+from mx_bluesky.common.device_setup_plans.manipulate_sample import move_phi_chi
 from mx_bluesky.common.experiment_plans.common_grid_detect_then_xray_centre_plan import (
     detect_grid_and_do_gridscan,
 )
@@ -74,7 +74,7 @@ def _pin_centre_then_gridscan_and_xrc():
             composite.gonio, composite.backlight, composite.aperture_scatterguard
         )
 
-        yield from move_phi_chi_omega(
+        yield from move_phi_chi(
             composite.gonio,
             parameters.phi_start_deg,
             parameters.chi_start_deg,

tests/unit_tests/common/device_setup_plans/test_robot_load_unload.py

@@ -91,16 +91,32 @@ async def test_when_robot_unload_called_then_sample_area_prepared_before_load(
         ),
     )
 
-    assert_message_and_return_remaining(
+    msgs = assert_message_and_return_remaining(
+        msgs,
+        lambda msg: (
+            msg.command == "set"
+            and msg.obj is smargon.wrapped_omega.phase
+            and msg.args[0] == 0
+        ),
+    )
+
+    msgs = assert_message_and_return_remaining(
+        msgs,
+        lambda msg: (
+            msg.command == "wait" and msg.kwargs["group"] == msgs[0].kwargs["group"]
+        ),
+    )
+
+    msgs = assert_message_and_return_remaining(
         msgs,
         lambda msg: (
             msg.command == "set"
             and msg.obj.name == "gonio"
-            and msg.args[0] == CombinedMove(x=0, y=0, z=0, omega=0, chi=0, phi=0)
+            and msg.args[0] == CombinedMove(x=0, y=0, z=0, chi=0, phi=0)
         ),
     )
 
-    assert_message_and_return_remaining(
+    msgs = assert_message_and_return_remaining(
         msgs,
         lambda msg: (
             msg.command == "set"

tests/unit_tests/hyperion/device_setup_plans/test_manipulate_sample.py

@@ -7,7 +7,7 @@
 
 from mx_bluesky.common.device_setup_plans.manipulate_sample import (
     move_aperture_if_required,
-    move_phi_chi_omega,
+    move_phi_chi,
     move_x_y_z,
 )
 
@@ -80,13 +80,13 @@ def test_move_phi_chi_omega_no_wait(
     smargon: Smargon,
     sim_run_engine: RunEngineSimulator,
 ):
-    msgs = sim_run_engine.simulate_plan(move_phi_chi_omega(smargon, 10.0, 5.0, None))
+    msgs = sim_run_engine.simulate_plan(move_phi_chi(smargon, 10.0, 5.0))
     msgs = assert_message_and_return_remaining(
         msgs,
         lambda msg: (
             msg.command == "set"
             and msg.obj.name == smargon.name
-            and msg.args[0] == CombinedMove(phi=10.0, chi=5.0, omega=None)
+            and msg.args[0] == CombinedMove(phi=10.0, chi=5.0)
         ),
     )
     assert len(msgs) == 1
@@ -96,15 +96,13 @@ def test_move_phi_chi_omega_wait(
     smargon: Smargon,
     sim_run_engine: RunEngineSimulator,
 ):
-    msgs = sim_run_engine.simulate_plan(
-        move_phi_chi_omega(smargon, 10.0, 5.0, None, wait=True)
-    )
+    msgs = sim_run_engine.simulate_plan(move_phi_chi(smargon, 10.0, 5.0, wait=True))
     msgs = assert_message_and_return_remaining(
         msgs,
         lambda msg: (
             msg.command == "set"
             and msg.obj.name == smargon.name
-            and msg.args[0] == CombinedMove(phi=10.0, chi=5.0, omega=None)
+            and msg.args[0] == CombinedMove(phi=10.0, chi=5.0)
         ),
     )
     group = msgs[0].kwargs["group"]

tests/unit_tests/hyperion/experiment_plans/test_pin_centre_then_xray_centre_plan.py

@@ -271,8 +271,7 @@ def test_pin_centre_then_gridscan_plan_goes_to_the_starting_chi_and_phi(
         lambda msg: (
             msg.command == "set"
             and msg.obj.name == "gonio"
-            and msg.args[0]
-            == CombinedMove(phi=expected_phi, chi=expected_chi, omega=None)
+            and msg.args[0] == CombinedMove(phi=expected_phi, chi=expected_chi)
             and msg.kwargs["group"] == CONST.WAIT.READY_FOR_OAV
         ),
     )