Hyperion 1.6.5 testing

[rtuck99]

Items to test for next i03 deployment:

• Fixes for UDC Default State robot unload and panda PCAP path provider setting #1669
• Hyperion: Think of a way to do a global timeout/heartbeat for plans as well callbacks #1362
• Latest config server changes
• Wait for the robot to report the puck/pin value instead of just waiting for beamline enable flag dodal#1951
• Mx bluesky 1492 reset robot error for sample position not ready dodal#1972
• Robot unload at 360 intervals instead of reset to 0 omega spin on unload #1598
• Use the python defined by module load python #1659 - FIXED
• mx-bluesky starts in UDC mode with wrong port number #1662 - FIXED
• Initialise i03 path provider, commissioning mode signal when beamline is instantiated dodal#1958 / Fixes for UDC Default State robot unload and panda PCAP path provider setting #1669
• 1672 hyperion-blueapi always closes the detector shutter #1675 - FIXED
• Hyperion: Skip whole native collection if no diffraction #1498
• hyperion should stop 10 minutes before a scheduled beam dump #1601

Acceptance Criteria

• Functionality as detailed in above PRs / GH issues is working

[rtuck99]

Synchrotron beam dump countdown is not ignored if commissioning mode is on

[rtuck99]

If there is no visit when the UDC ends (if for example UDC default state failed) then the supervisor exits with:

ESC[31m[E 260319 12:05:56.217 run_engine:1755] Run abortedESC[0m
Traceback (most recent call last):
  File "/dls_sw/i03/software/bluesky/mx-bluesky_1.6.5/mx-bluesky/.venv/lib/python3.11/site-packages/bluesky/run_engine.py", line 1610, in _run
    msg = self._plan_stack[-1].send(resp)
          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/dls_sw/i03/software/bluesky/mx-bluesky_1.6.5/mx-bluesky/src/mx_bluesky/hyperion/baton_handler.py", line 131, in collect_then_release
    yield from bpp.contingency_wrapper(
  File "/dls_sw/i03/software/bluesky/mx-bluesky_1.6.5/mx-bluesky/.venv/lib/python3.11/site-packages/bluesky/preprocessors.py", line 622, in contingency_wrapper
    ret = yield from plan
          ^^^^^^^^^^^^^^^
  File "/dls_sw/i03/software/bluesky/mx-bluesky_1.6.5/mx-bluesky/src/mx_bluesky/hyperion/baton_handler.py", line 109, in collect
    yield from runner.decode_and_execute(current_visit, [RobotUnload()])
  File "/dls_sw/i03/software/bluesky/mx-bluesky_1.6.5/mx-bluesky/src/mx_bluesky/hyperion/supervisor/_supervisor.py", line 71, in decode_and_execute
    self._run_task_remotely(task_request)
  File "/dls_sw/i03/software/bluesky/mx-bluesky_1.6.5/mx-bluesky/src/mx_bluesky/hyperion/supervisor/_supervisor.py", line 126, in _run_task_remotely
    task_status = self.blueapi_client.run_task(
                  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/dls_sw/i03/software/bluesky/mx-bluesky_1.6.5/mx-bluesky/.venv/lib/python3.11/site-packages/observability_utils/tracing/decorators.py", line 151, in wrapper
    return func(*args, **kwargs)
           ^^^^^^^^^^^^^^^^^^^^^
  File "/dls_sw/i03/software/bluesky/mx-bluesky_1.6.5/mx-bluesky/.venv/lib/python3.11/site-packages/blueapi/client/client.py", line 468, in run_task
    task_response = self._rest.create_task(task)
                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/dls_sw/i03/software/bluesky/mx-bluesky_1.6.5/mx-bluesky/.venv/lib/python3.11/site-packages/blueapi/client/rest.py", line 188, in create_task
    return self._request_and_deserialize(
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/dls_sw/i03/software/bluesky/mx-bluesky_1.6.5/mx-bluesky/.venv/lib/python3.11/site-packages/observability_utils/tracing/decorators.py", line 151, in wrapper
    return func(*args, **kwargs)
           ^^^^^^^^^^^^^^^^^^^^^
  File "/dls_sw/i03/software/bluesky/mx-bluesky_1.6.5/mx-bluesky/.venv/lib/python3.11/site-packages/blueapi/client/rest.py", line 271, in _request_and_deserialize
    raise exception
blueapi.client.rest.InvalidParametersError: [ParameterError(loc=['body', 'params', 'visit'], msg='Input should be a valid string', type='string_type', input=None)]
ESC[32m[I 260319 12:05:56.608 run_engine:189] Change state on <bluesky.run_engine.RunEngine object at 0x7f08d1b6f1d0> from 'running' -> 'idle'ESC[0m

[rtuck99]

_supervisor.py doesn't return current_visit in decode_and_execute, so final robot unload is recorded with no visit.

[rtuck99]

assertion in ispyb_callback_base isinstance(SyncrhotronMode) fails

[rtuck99]

smargon omega moves the long way round from 270 to 0 between last snapshot and rotation, and to 0 after rotation finishes

[rtuck99]

supervisor died when couldn't talk to blueapi

[rtuck99]

couldn't find pcap files

[rtuck99]

Supervisor issued a stop because blueapi was stuck, but it was in middle of feedback loop, so should not have issued stop.

[rtuck99]

Supervisor failed to raise an alert while waiting for feedback, due to dict value type issue

[rtuck99]

combined moves with smargon hotfix did not respect omega wrapping

[rtuck99]

common_flyscan_xray_centre_plan was setting absolute omega instead of wrapped