Add a run_program to the pmac (#661)

* Add a way for the pmac to run a program and wait on it

* Only exit program run is scanstatus is 0 ie collection done

* Use wait_for_value

* Fix run_program

* Fix linting

* Fix linting again

* Fix linting again maybe

* Go back

* try to fix linting

* try to fix linting

* correctly check float type

---------

Co-authored-by: David Perl <[email protected]>

.vscode/settings.json

@@ -11,8 +11,8 @@
             88
         ],
         "editor.codeActionsOnSave": {
-            "source.fixAll.ruff": false,
-            "source.organizeImports.ruff": true
+            "source.fixAll.ruff": "never",
+            "source.organizeImports.ruff": "explicit"
         }
     },
     "python.analysis.extraPaths": [

src/dodal/devices/i24/pmac.py

@@ -1,8 +1,9 @@
-from enum import Enum
+from enum import Enum, IntEnum
+from typing import SupportsFloat
 
 from bluesky.protocols import Triggerable
-from ophyd_async.core import AsyncStatus, StandardReadable
-from ophyd_async.core.signal import SignalRW
+from ophyd_async.core import AsyncStatus, StandardReadable, wait_for_value
+from ophyd_async.core.signal import SignalR, SignalRW
 from ophyd_async.core.signal_backend import SignalBackend
 from ophyd_async.core.soft_signal_backend import SoftSignalBackend
 from ophyd_async.core.utils import DEFAULT_TIMEOUT
@@ -13,6 +14,11 @@
 ZERO_STR = "!x0y0z0"  # Command to blend any ongoing move into new position
 
 
+class ScanState(IntEnum):
+    RUNNING = 1
+    DONE = 0
+
+
 class LaserSettings(str, Enum):
     """PMAC strings to switch laser on and off.
     Note. On the PMAC, M-variables usually have to do with position compare
@@ -78,7 +84,7 @@ async def set(self, laser_setting: LaserSettings):
 
 
 class PMACStringEncReset(SignalRW):
-    """"""
+    """Set a pmac_string to control the encoder channels in the controller."""
 
     def __init__(
         self,
@@ -95,6 +101,35 @@ async def set(self, enc_string: EncReset):
         await self.signal.set(enc_string.value, wait=True)
 
 
+class ProgramRunner(SignalRW):
+    """Trigger the collection by setting the program number on the PMAC string.
+
+    Once the program number has been set, wait for the collection to be complete.
+    This will only be true when the status becomes 0.
+    """
+
+    def __init__(
+        self,
+        pmac_str_sig: SignalRW,
+        status_sig: SignalR,
+        backend: SignalBackend,
+        timeout: float | None = DEFAULT_TIMEOUT,
+        name: str = "",
+    ) -> None:
+        self.signal = pmac_str_sig
+        self.status = status_sig
+        super().__init__(backend, timeout, name)
+
+    @AsyncStatus.wrap
+    async def set(self, value: int, wait=True, timeout=None):
+        prog_str = f"&2b{value}r"
+        assert isinstance(timeout, SupportsFloat) or (
+            timeout is None
+        ), f"ProgramRunner does not support calculating timeout itself, {timeout=}"
+        await self.signal.set(prog_str, wait=wait)
+        await wait_for_value(self.status, ScanState.DONE, timeout)
+
+
 class PMAC(StandardReadable):
     """Device to control the chip stage on I24."""
 
@@ -121,4 +156,8 @@ def __init__(self, prefix: str, name: str = "") -> None:
         self.scanstatus = epics_signal_r(float, "BL24I-MO-STEP-14:signal:P2401")
         self.counter = epics_signal_r(float, "BL24I-MO-STEP-14:signal:P2402")
 
+        self.run_program = ProgramRunner(
+            self.pmac_string, self.scanstatus, backend=SoftSignalBackend(str)
+        )
+
         super().__init__(name)

tests/devices/unit_tests/i24/test_pmac.py

@@ -1,6 +1,7 @@
 import bluesky.plan_stubs as bps
 import pytest
 from bluesky.run_engine import RunEngine
+from ophyd_async.core import set_mock_value
 
 from dodal.devices.i24.pmac import HOME_STR, PMAC, EncReset, LaserSettings
 from dodal.devices.util.test_utils import patch_motor
@@ -60,3 +61,11 @@ async def test_set_pmac_string_for_enc_reset(fake_pmac: PMAC, RE):
     RE(bps.abs_set(fake_pmac.enc_reset, EncReset.ENC7, wait=True))
 
     assert await fake_pmac.pmac_string.get_value() == "m708=100 m709=150"
+
+
+async def test_run_proogram(fake_pmac: PMAC, RE):
+    set_mock_value(fake_pmac.scanstatus, 0)
+    prog_num = 10
+    RE(bps.abs_set(fake_pmac.run_program, prog_num, timeout=1, wait=True))
+
+    assert await fake_pmac.pmac_string.get_value() == f"&2b{prog_num}r"