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Fixes to support hyperion-blueapi #1760

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Merged
rtuck99 merged 3 commits into from
Jan 8, 2026
Merged

Fixes to support hyperion-blueapi #1760

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9cdf508
Change BartRobot to use a sentinel instead of None for the empty loca…
rtuck99 Dec 5, 2025
a946a46
Change SAMPLE_LOCATION_EMPTY to be less ambiguous
rtuck99 Dec 5, 2025
cbe5774
Merge branch 'main' into mx-bluesky_1364_fix_generic_params_in_robot_…
rtuck99 Jan 8, 2026
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13 changes: 8 additions & 5 deletions src/dodal/devices/robot.py
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Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,9 @@ class SampleLocation:
pin: int


SAMPLE_LOCATION_EMPTY = SampleLocation(-1, -1)


class PinMounted(StrictEnum):
NO_PIN_MOUNTED = "No Pin Mounted"
PIN_MOUNTED = "Pin Mounted"
Expand All @@ -61,7 +64,7 @@ async def raise_if_error(self, raise_from: Exception):
raise RobotLoadError(int(error_code), error_string) from raise_from


class BartRobot(StandardReadable, Movable[SampleLocation | None]):
class BartRobot(StandardReadable, Movable[SampleLocation]):
"""The sample changing robot."""

# How long to wait for the robot if it is busy soaking/drying
Expand Down Expand Up @@ -179,16 +182,16 @@ async def _load_pin_and_puck(self, sample_location: SampleLocation):
await self.pin_state_or_error()

@AsyncStatus.wrap
async def set(self, value: SampleLocation | None):
async def set(self, value: SampleLocation):
"""
Perform a sample load from the specified sample location
Args:
value: The pin and puck to load, or None to unload the sample.
value: The pin and puck to load, or SAMPLE_LOCATION_EMPTY to unload the sample.
Raises:
RobotLoadError if a timeout occurs, or if an error occurs loading the smaple.
RobotLoadError if a timeout occurs, or if an error occurs loading the sample.
"""
try:
if value is not None:
if value != SAMPLE_LOCATION_EMPTY:
await wait_for(
self._load_pin_and_puck(value),
timeout=self.LOAD_TIMEOUT + self.NOT_BUSY_TIMEOUT,
Expand Down
7 changes: 4 additions & 3 deletions tests/devices/test_bart_robot.py
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@
)

from dodal.devices.robot import (
SAMPLE_LOCATION_EMPTY,
WAIT_FOR_NEW_PIN_MSG,
WAIT_FOR_OLD_PIN_MSG,
BartRobot,
Expand Down Expand Up @@ -253,7 +254,7 @@ async def test_moving_the_robot_will_reset_error_if_light_curtain_is_tripped_and
async def test_unloading_the_robot_waits_for_drying_to_complete(robot_for_unload):
robot, trigger_completed, drying_completed = robot_for_unload
drying_completed.set()
unload_status = robot.set(None)
unload_status = robot.set(SAMPLE_LOCATION_EMPTY)

await asyncio.sleep(0.1)
assert not unload_status.done
Expand All @@ -269,7 +270,7 @@ async def test_unloading_the_robot_times_out_if_unloading_takes_too_long(
):
robot, trigger_completed, drying_completed = robot_for_unload
drying_completed.set()
unload_status = robot.set(None)
unload_status = robot.set(SAMPLE_LOCATION_EMPTY)

with pytest.raises(RobotLoadError) as exc_info:
await unload_status
Expand All @@ -280,7 +281,7 @@ async def test_unloading_the_robot_times_out_if_unloading_takes_too_long(
async def test_unloading_the_robot_times_out_if_drying_takes_too_long(robot_for_unload):
robot, trigger_completed, drying_completed = robot_for_unload
trigger_completed.set()
unload_status = robot.set(None)
unload_status = robot.set(SAMPLE_LOCATION_EMPTY)

with pytest.raises(RobotLoadError) as exc_info:
await unload_status
Expand Down