Ability to launch blueapi and run Hyperion plans

docs/developer/hyperion/hyperion-blueapi.rst

@@ -0,0 +1,35 @@
+Hyperion on BlueAPI
+===================
+
+This document describes the migration of Hyperion from a monolithic service that contains its own application server 
+and is only partially dependent on BlueAPI, 
+to a standard BlueAPI application deployment. 
+
+Architecture
+------------
+
+Hyperion on BlueAPI consists of two components:
+
+* hyperion-blueapi: This is intended to ultimately be a standard blueapi installation, consisting of a beamline 
+  module and a dodal plan module. In the interim, deployment may vary from the standard method until such time as 
+  monolithic operation can be desupported. ``hyperion-blueapi`` exposes a minimal set of bluesky plans for UDC data 
+  collection.
+
+* hyperion-supervisor: This will be a separate service that is responsible for fetching instructions from 
+  Agamemnon, decoding them and sending corresponding requests to ``hyperion-blueapi`` for execution. The supervisor
+  also monitors the state of ``hyperion-blueapi``, manages the Hyperion baton and provides endpoints for status
+  monitoring.
+
+Deployment
+----------
+
+``hyperion-blueapi`` is automatically available in a standard Hyperion deployment.
+
+Launching
+---------
+
+``hyperion-blueapi`` can be launched in using the ``run_hyperion.sh`` script, using the ``--blueapi`` option:
+
+::
+
+    ./run_hyperion.sh --beamline=i03 --dev --blueapi

docs/developer/hyperion/index.rst

@@ -17,6 +17,7 @@ Documentation specific for the Hyperion module within MX-Bluesky
             reference/param-hierarchy
             reference/coordinate-systems
             system-tests
+            hyperion-blueapi
 
         +++
 

run_hyperion.sh

@@ -7,6 +7,9 @@ START=1
 IN_DEV=false
 MODE=gda
 
+CONFIG_DIR=`dirname $0`/src/mx_bluesky/hyperion
+BLUEAPI_CONFIG=$CONFIG_DIR/blueapi_config.yaml
+
 for option in "$@"; do
     case $option in
         -b=*|--beamline=*)
@@ -22,10 +25,14 @@ for option in "$@"; do
             ;;
         --dev)
             IN_DEV=true
+            BLUEAPI_CONFIG=$CONFIG_DIR/blueapi_dev_config.yaml
             ;;
         --udc)
             MODE=udc
             ;;
+        --blueapi)
+            MODE=blueapi
+            ;;
         --help|--info|--h)
             source .venv/bin/activate
             echo "`basename $0` [options]"
@@ -38,10 +45,9 @@ Options:
   --stop                  Used to stop a currently running instance of Hyperion. Will override any other operations
                           options.
   --no-start              Used to specify that the script should be run without starting the server.
-  --skip-startup-connection
-                          Do not connect to devices at startup
   --dev                   Enable dev mode to run from a local workspace on a development machine.
   --udc                   Start hyperion in UDC mode instead of taking commands from GDA
+  --blueapi               Start hyperion in blueapi mode instead of taking commands from GDA
   --help                  This help
 
 By default this script will start an Hyperion server unless the --no-start flag is specified.
@@ -59,6 +65,7 @@ kill_active_apps () {
     echo "Killing active instances of hyperion and hyperion-callbacks..."
     pkill -e -f "python.*hyperion"
     pkill -e -f "SCREEN.*hyperion"
+    blueapi controller stop 2>/dev/null
     echo "done."
 }
 
@@ -120,8 +127,6 @@ if [[ $START == 1 ]]; then
 
     source .venv/bin/activate
 
-    #Add future arguments here
-
     declare -A h_and_cb_args=( ["IN_DEV"]="$IN_DEV" )
     declare -A h_and_cb_arg_strings=( ["IN_DEV"]="--dev" )
 
@@ -136,16 +141,23 @@ if [[ $START == 1 ]]; then
     done
 
     unset PYEPICS_LIBCA
-    echo "Starting hyperion with hyperion $h_commands, start_log is $start_log_path"
-    hyperion `echo $h_commands;`>$start_log_path  2>&1 &
+    if [ $MODE = "blueapi" ]; then 
+      echo "Starting hyperion in blueapi mode, start log is $start_log_path"
+      blueapi --config $BLUEAPI_CONFIG serve > $start_log_path 2>&1 &
+      HEALTHCHECK_ENDPOINT="healthz"
+    else
+      echo "Starting hyperion with hyperion $h_commands, start_log is $start_log_path"
+      hyperion `echo $h_commands;`>$start_log_path  2>&1 &
+      HEALTHCHECK_ENDPOINT="status"
+    fi
     echo "Starting hyperion-callbacks with hyperion-callbacks $cb_commands, start_log is $callback_start_log_path"
     hyperion-callbacks `echo $cb_commands;`>$callback_start_log_path 2>&1 &
     echo "$(date) Waiting for Hyperion to start"
 
     for i in {1..30}
     do
         echo "$(date)"
-        curl --head -X GET http://localhost:5005/status >/dev/null
+        curl --head -X GET http://localhost:5005/$HEALTHCHECK_ENDPOINT >/dev/null
         ret_value=$?
         if [ $ret_value -ne 0 ]; then
             sleep 1

src/mx_bluesky/common/device_setup_plans/robot_load_unload.py

@@ -5,7 +5,7 @@
 from bluesky.utils import MsgGenerator
 from dodal.devices.aperturescatterguard import ApertureScatterguard, ApertureValue
 from dodal.devices.motors import XYZStage
-from dodal.devices.robot import BartRobot
+from dodal.devices.robot import SAMPLE_LOCATION_EMPTY, BartRobot
 from dodal.devices.smargon import CombinedMove, Smargon, StubPosition
 from dodal.plan_stubs.motor_utils import MoveTooLargeError, home_and_reset_wrapper
 
@@ -117,7 +117,7 @@ def do_robot_unload_and_send_to_ispyb():
         yield from bps.save()
 
         def _unload():
-            yield from bps.abs_set(robot, None, wait=True)
+            yield from bps.abs_set(robot, SAMPLE_LOCATION_EMPTY, wait=True)
             yield from wait_for_smargon_not_disabled(smargon)
 
         gonio_finished = yield from do_plan_while_lower_gonio_at_home(

src/mx_bluesky/hyperion/blueapi_config.yaml

@@ -0,0 +1,18 @@
+env:
+  sources:
+    - kind: deviceManager
+      module: dodal.beamlines.i03
+    - kind: planFunctions
+      module: mx_bluesky.hyperion.blueapi_plans
+  events:
+    broadcast_status_events: false
+api:
+  url: http://localhost:5005
+  cors:
+    allow_credentials: True
+    origins: 
+      - "*"
+logging:
+  graylog:
+    url: "tcp://graylog-log-target.diamond.ac.uk:12232"
+    enabled: true

src/mx_bluesky/hyperion/blueapi_dev_config.yaml

@@ -0,0 +1,17 @@
+env:
+  sources:
+    - kind: deviceManager
+      module: dodal.beamlines.i03
+      mock: true
+    - kind: planFunctions
+      module: mx_bluesky.hyperion.blueapi_plans
+  events:
+    broadcast_status_events: false
+api:
+  url: http://localhost:5005
+  cors:
+    allow_credentials: True
+    origins: 
+      - "*"
+logging:
+  level: DEBUG

src/mx_bluesky/hyperion/blueapi_plans/__init__.py

@@ -0,0 +1,77 @@
+"""
+This module contains the bluesky plan entry points for use with hyperion-blueapi.
+The json schema and documentation therein generated by the blueapi /plans endpoint
+from this file constitutes the hyperion-blueapi interface to the hyperion supervisor
+process.
+"""
+
+from bluesky.utils import MsgGenerator
+from dodal.common import inject
+from dodal.devices.aperturescatterguard import ApertureScatterguard
+from dodal.devices.motors import XYZStage
+from dodal.devices.robot import BartRobot
+from dodal.devices.smargon import Smargon
+
+from mx_bluesky.common.device_setup_plans.robot_load_unload import (
+    robot_unload as _robot_unload,
+)
+from mx_bluesky.hyperion.experiment_plans.load_centre_collect_full_plan import (
+    LoadCentreCollectComposite,
+)
+from mx_bluesky.hyperion.experiment_plans.load_centre_collect_full_plan import (
+    load_centre_collect_full as _load_centre_collect_full,
+)
+from mx_bluesky.hyperion.experiment_plans.udc_default_state import (
+    UDCDefaultDevices,
+)
+from mx_bluesky.hyperion.experiment_plans.udc_default_state import (
+    move_to_udc_default_state as _move_to_udc_default_state,
+)
+from mx_bluesky.hyperion.parameters.load_centre_collect import LoadCentreCollect
+
+__all__ = [
+    "LoadCentreCollectComposite",
+    "LoadCentreCollect",
+    "UDCDefaultDevices",
+    "load_centre_collect",
+    "move_to_udc_default_state",
+    "robot_unload",
+]
+
+
+def load_centre_collect(
+    parameters: LoadCentreCollect, composite: LoadCentreCollectComposite = inject()
+) -> MsgGenerator:
+    """
+    Attempt a complete data collection experiment, consisting of the following:
+        * Load the sample if necessary
+        * Move to the specified goniometer start angles
+        * Perform optical centring, then X-ray centring
+        * If X-ray centring finds one or more diffracting centres then for each centre
+    that satisfies the chosen selection function,
+    move to that centre and do a collection with the specified parameters.
+    """
+    yield from _load_centre_collect_full(composite, parameters)
+
+
+def robot_unload(
+    visit: str,
+    robot: BartRobot = inject("robot"),
+    smargon: Smargon = inject("smargon"),
+    aperture_scatterguard: ApertureScatterguard = inject("aperture_scatterguard"),
+    lower_gonio: XYZStage = inject("lower_gonio"),
+) -> MsgGenerator:
+    """
+    Unload the currently mounted pin into the location that it was loaded from.
+    This is to be invoked as the final step upon successful completion of the UDC queue.
+    """
+    yield from _robot_unload(robot, smargon, aperture_scatterguard, lower_gonio, visit)
+
+
+def move_to_udc_default_state(
+    composite: UDCDefaultDevices = inject(),
+) -> MsgGenerator:
+    """
+    Move beamline hardware to known positions prior to UDC start.
+    """
+    yield from _move_to_udc_default_state(composite)

tests/test_data/hyperion_blueapi/move_to_udc_default_state.json

@@ -0,0 +1,5 @@
+{
+  "name": "move_to_udc_default_state",
+  "params": {},
+  "instrument_session": "cm12345-1"
+}

tests/test_data/hyperion_blueapi/robot_unload.json

@@ -0,0 +1,7 @@
+{
+  "name": "robot_unload",
+  "params": {
+    "visit": "cm12345-1"
+  },
+  "instrument_session": "cm12345-1"
+}

tests/test_data/hyperion_blueapi/test_load_centre_collect.json

@@ -0,0 +1,56 @@
+{
+  "name": "load_centre_collect",
+  "params": {
+    "parameters": {
+      "parameter_model_version": "5.0.0",
+      "beamline": "BL03S",
+      "det_dist_to_beam_converter_path": "tests/test_data/test_lookup_table.txt",
+      "insertion_prefix": "SR03S",
+      "visit": "cm31105-4",
+      "detector_distance_mm": 255,
+      "sample_id": 12345,
+      "sample_puck": 40,
+      "sample_pin": 3,
+      "robot_load_then_centre": {
+        "storage_directory": "{tmp_data}/123458/xraycentring",
+        "file_name": "robot_load_centring_file",
+        "comment": "Robot load and centre",
+        "exposure_time_s": 0.004,
+        "use_roi_mode": false,
+        "demand_energy_ev": 11100,
+        "run_number": 0,
+        "panda_runup_distance_mm": 0.17,
+        "box_size_um": 20
+      },
+      "multi_rotation_scan": {
+        "comment": "Rotation",
+        "storage_directory": "{tmp_data}/123458/",
+        "file_name": "file_name",
+        "exposure_time_s": 0.004,
+        "selected_aperture": "SMALL_APERTURE",
+        "transmission_frac": 1.0,
+        "demand_energy_ev": 11100,
+        "rotation_increment_deg": 0.1,
+        "shutter_opening_time_s": 0.6,
+        "snapshot_omegas_deg": [
+          0,
+          90,
+          180,
+          270
+        ],
+        "run_number": 1,
+        "rotation_scans": [
+          {
+            "rotation_axis": "omega",
+            "rotation_direction": "Negative",
+            "scan_width_deg": 180.0,
+            "omega_start_deg": 0,
+            "phi_start_deg": 0.47,
+            "chi_start_deg": 23.85
+          }
+        ]
+      }
+    }
+  },
+  "instrument_session": "cm12345-1"
+}

tests/unit_tests/common/device_setup_plans/test_robot_load_unload.py

@@ -7,7 +7,7 @@
 from bluesky.utils import Msg
 from dodal.devices.aperturescatterguard import ApertureScatterguard, ApertureValue
 from dodal.devices.motors import XYZStage
-from dodal.devices.robot import BartRobot
+from dodal.devices.robot import SAMPLE_LOCATION_EMPTY, BartRobot
 from dodal.devices.smargon import CombinedMove, Smargon, StubPosition
 from ophyd_async.core import get_mock_put, set_mock_value
 
@@ -87,7 +87,9 @@ async def test_when_robot_unload_called_then_sample_area_prepared_before_load(
 
     assert_message_and_return_remaining(
         msgs,
-        lambda msg: msg.command == "set" and msg.obj is robot and msg.args[0] is None,
+        lambda msg: msg.command == "set"
+        and msg.obj is robot
+        and msg.args[0] == SAMPLE_LOCATION_EMPTY,
     )
     assert_message_and_return_remaining(
         msgs,
@@ -134,7 +136,9 @@ def locate_gonio(_):
 
     msgs = assert_message_and_return_remaining(
         msgs,
-        lambda msg: msg.command == "set" and msg.obj is robot and msg.args[0] is None,
+        lambda msg: msg.command == "set"
+        and msg.obj is robot
+        and msg.args[0] == SAMPLE_LOCATION_EMPTY,
     )
 
     msgs = assert_message_and_return_remaining(