23 make hardware run in mock mode to test plans

.github/CONTRIBUTING.md

@@ -1,14 +1,14 @@
 # Contribute to the project
 
 Contributions and issues are most welcome! All issues and pull requests are
-handled through [GitHub](https://github.com/Relm-Arrowny/p99_bluesky/issues). Also, please check for any existing issues before
+handled through [GitHub](https://github.com/DiamondLightSource/p99-bluesky/issues). Also, please check for any existing issues before
 filing a new one. If you have a great idea but it involves big changes, please
 file a ticket before making a pull request! We want to make sure you don't spend
 your time coding something that might not fit the scope of the project.
 
 ## Issue or Discussion?
 
-Github also offers [discussions](https://github.com/Relm-Arrowny/p99_bluesky/discussions) as a place to ask questions and share ideas. If
+Github also offers [discussions](https://github.com/DiamondLightSource/p99-bluesky/discussions) as a place to ask questions and share ideas. If
 your issue is open ended and it is not obvious when it can be "closed", please
 raise it as a discussion instead.
 

src/p99_bluesky/beamlines/p99.py

@@ -1,5 +1,5 @@
-from dodal.beamlines.beamline_utils import device_instantiation
-from dodal.beamlines.beamline_utils import set_beamline as set_utils_beamline
+from dodal.common.beamlines.beamline_utils import device_instantiation
+from dodal.common.beamlines.beamline_utils import set_beamline as set_utils_beamline
 from dodal.log import set_beamline as set_log_beamline
 from dodal.utils import get_beamline_name
 

tests/epics/soft_ioc/p99_softioc.py

@@ -0,0 +1,56 @@
+import asyncio
+
+from softioc import asyncio_dispatcher, builder, softioc
+from softsignal import soft_mbb, soft_motor, soft_signal
+
+
+async def p99_fake() -> None:
+    async def _delay_move(signal, v, vel, dmov):
+        diff = signal.get() - v.get()
+        if abs(diff) < vel.get() * 0.04:
+            signal.set(v.get())
+            dmov.set(True)
+
+        elif diff < 0:
+            dmov.set(False)
+            signal.set(signal.get() + vel.get() * 0.02)
+        elif diff > 0:
+            dmov.set(False)
+            signal.set(signal.get() - vel.get() * 0.02)
+
+    # Sample AngleStage softioc
+    dispatcher = asyncio_dispatcher.AsyncioDispatcher()
+    soft_signal("p99-MO-TABLE-01", "WRITETHETA", "WRITETHETA:RBV")
+    soft_signal("p99-MO-TABLE-01", "WRITEROLL", "WRITEROLL:RBV")
+    soft_signal("p99-MO-TABLE-01", "WRITEPITCH", "WRITEPITCH:RBV")
+    # sample selection staged
+    soft_mbb("p99-MO-STAGE-02", "MP:SELECT")
+    # xyz stage
+    x_set, x_vel, x_rbv, x_dmov = await soft_motor(
+        prefix="p99-MO-STAGE-02", name="X", unit="mm"
+    )
+    y_set, y_vel, y_rbv, y_dmov = await soft_motor(
+        prefix="p99-MO-STAGE-02", name="Y", unit="mm"
+    )
+    z_set, z_vel, z_rbv, z_dmov = await soft_motor(
+        prefix="p99-MO-STAGE-02", name="Z", unit="mm"
+    )
+    # build the ioc
+    builder.LoadDatabase()
+    softioc.iocInit(dispatcher)
+
+    # print(softioc.dbnr(), softioc.dbl())  # type: ignore
+
+    async def update(y_rbv, y_set, y_vel, y_dmov):
+        await _delay_move(y_rbv, y_set, y_vel, y_dmov)
+
+    while True:
+        dispatcher(update, [z_rbv, z_set, z_vel, z_dmov])
+        dispatcher(update, [y_rbv, y_set, y_vel, y_dmov])
+        dispatcher(update, [x_rbv, x_set, x_vel, x_dmov])
+        await asyncio.sleep(0.01)
+    # softioc.interactive_ioc(globals())
+
+
+if __name__ == "__main__":
+    asyncio.run(p99_fake())

tests/epics/soft_ioc/softsignal.py

@@ -0,0 +1,94 @@
+from softioc import builder
+
+
+def soft_signal(prefix: str, input_name: str, readback_name: str) -> None:
+    # Create some records
+    builder.SetDeviceName(prefix)
+    rbv = builder.aIn(readback_name, initial_value=0)
+    # rbv.append(temp)
+    builder.aOut(
+        input_name,
+        initial_value=0.1,
+        always_update=True,
+        on_update=lambda v: rbv.set(v),
+    )
+
+
+def soft_mbb(prefix: str, name: str, *option):
+    builder.SetDeviceName(prefix)
+    # temp = builder.mbbIn(readback_name, initial_value=0)
+    builder.mbbOut(
+        name,
+        "Empty",
+        "Mn 5um",
+        "Fe (empty)",
+        "Co 5um",
+        "Ni 5um",
+        "Cu 5um",
+        "Zn 5um",
+        "Zr (empty)",
+        "Mo (empty)",
+        "Rh (empty)",
+        "Pd (empty)",
+        "Ag (empty)",
+        "Cd 25um",
+        "W (empty)",
+        "Pt (empty)",
+        "User",
+    )
+
+
+async def soft_motor(prefix: str, name: str, unit: str = "mm"):
+    builder.SetDeviceName(prefix)
+    builder.aOut(
+        name,
+        initial_value=1.1,
+        EGU=unit,
+        VAL=1.1,
+        PREC=0,
+    )
+    rbv = builder.aOut(
+        name + "RBV",
+        initial_value=0.0,
+    )
+    vel = builder.aOut(
+        name + "VELO",
+        initial_value=1.5,
+    )
+    dmov = builder.boolOut(
+        name + "DMOV",
+        initial_value=True,
+    )
+    ai = builder.aOut(
+        name + "VAL",
+        initial_value=0.0,
+        always_update=True,
+        on_update=lambda v: dmov.set(False),
+    )
+
+    builder.aOut(
+        name + "VMAX",
+        initial_value=2,
+    )
+    builder.aOut(
+        name + "ACCL",
+        initial_value=1,
+    )
+    builder.aOut(
+        name + "RDBD",
+        initial_value=0.1,
+    )
+
+    builder.aOut(
+        name + "LLM",
+        initial_value=-100,
+    )
+    builder.aOut(
+        name + "HLM",
+        initial_value=100,
+    )
+    builder.aOut(
+        name + "STOP",
+        initial_value=0,
+    )
+    return ai, vel, rbv, dmov