add auto centre diff and correct time estimate on stxm

src/sm_bluesky/beamlines/i10/plans/__init__.py

@@ -2,6 +2,8 @@
 
 from .align_slits import align_dsd, align_dsu, move_dsd, move_dsu
 from .centre_direct_beam import (
+    beam_on_centre_diffractometer,
+    beam_on_pin,
     centre_alpha,
     centre_det_angles,
     centre_tth,
@@ -29,4 +31,6 @@
     "centre_tth",
     "centre_det_angles",
     "move_pin_origin",
+    "beam_on_pin",
+    "beam_on_centre_diffractometer",
 ]

src/sm_bluesky/beamlines/i10/plans/centre_direct_beam.py

@@ -1,11 +1,8 @@
 from collections.abc import Hashable
 
 import bluesky.plan_stubs as bps
-from dodal.beamlines.i10 import (
-    diffractometer,
-    sample_stage,
-)
-from dodal.common.types import MsgGenerator
+from bluesky.utils import MsgGenerator, plan
+from dodal.beamlines.i10 import diffractometer, focusing_mirror, sample_stage
 from ophyd_async.core import StandardReadable
 
 from sm_bluesky.beamlines.i10.configuration.default_setting import (
@@ -15,6 +12,7 @@
 from sm_bluesky.common.plans import StatPosition, step_scan_and_move_fit
 
 
+@plan
 def centre_tth(
     det: StandardReadable = RASOR_DEFAULT_DET,
     det_name: str = RASOR_DEFAULT_DET_NAME_EXTENSION,
@@ -35,6 +33,7 @@ def centre_tth(
     )
 
 
+@plan
 def centre_alpha(
     det: StandardReadable = RASOR_DEFAULT_DET,
     det_name: str = RASOR_DEFAULT_DET_NAME_EXTENSION,
@@ -54,6 +53,7 @@ def centre_alpha(
     )
 
 
+@plan
 def centre_det_angles(
     det: StandardReadable = RASOR_DEFAULT_DET,
     det_name: str = RASOR_DEFAULT_DET_NAME_EXTENSION,
@@ -73,3 +73,112 @@ def move_pin_origin(wait: bool = True, group: Hashable | None = None) -> MsgGene
     yield from bps.abs_set(sample_stage().z, 0, wait=False, group=group)
     if wait:
         yield from bps.wait(group=group)
+
+
+@plan
+def beam_on_pin(
+    det: StandardReadable = RASOR_DEFAULT_DET,
+    det_name: str = RASOR_DEFAULT_DET_NAME_EXTENSION,
+    mirror_coverage: float = 0.668,
+    mirror_num: int = 51,
+    sy_coverage: float = 0.3,
+    sy_num: int = 51,
+    pin_half_cut: float = 1.0,
+) -> MsgGenerator:
+    """Move beam onto the pin by scanning
+     the focusing mirror and the sample stage in y direction.
+
+    Parameters
+    ----------
+    det : StandardReadable, optional
+        The detector to use for alignment, by default RASOR_DEFAULT_DET
+    det_name : str, optional
+        The suffix for the detector name, by default RASOR_DEFAULT_DET_NAME_EXTENSION
+    mirror_coverage : float, optional
+        The coverage of the focusing mirror in fine pitch, by default 0.668
+    mirror_num : int, optional
+        The number of points to scan for the focusing mirror, by default 51
+    sy_coverage : float, optional
+        The coverage of the sample stage in y direction in mm, by default 0.3
+    sy_num : int, optional
+        The number of points to scan for the sample stage in y direction, by default 51
+    pin_half_cut : float, optional
+        The half cut of the pin in mm, by default 1.0
+    """
+    mirror_current = yield from bps.rd(focusing_mirror().fine_pitch)
+    mirror_start = mirror_current - mirror_coverage / 2.0
+    mirror_end = mirror_current + mirror_coverage / 2.0
+    yield from bps.abs_set(sample_stage().y, pin_half_cut, wait=True)
+    yield from step_scan_and_move_fit(
+        det=det,
+        motor=focusing_mirror().fine_pitch,
+        start=mirror_start,
+        end=mirror_end,
+        num=mirror_num,
+        detname_suffix=det_name,
+        fitted_loc=StatPosition.MIN,
+    )
+    sy_start = pin_half_cut - sy_coverage / 2.0
+    sy_end = pin_half_cut + sy_coverage / 2.0
+    yield from step_scan_and_move_fit(
+        det=det,
+        motor=sample_stage().y,
+        start=sy_start,
+        end=sy_end,
+        num=sy_num,
+        detname_suffix=det_name,
+        fitted_loc=StatPosition.D_CEN,
+    )
+
+
+@plan
+def beam_on_centre_diffractometer(
+    det: StandardReadable = RASOR_DEFAULT_DET,
+    det_name: str = RASOR_DEFAULT_DET_NAME_EXTENSION,
+    mirror_height_adjust: float = 0.01,
+    mirror_diff_acceptance: float = 0.08,
+    pin_clear_beam_position: float = -2.0,
+    pin_half_cut: float = 1.0,
+) -> MsgGenerator:
+    """Move the beam centre of diffractometer by adjusting
+     the focusing mirror pitch and height.
+
+    Parameters
+    ----------
+    det : StandardReadable, optional
+        The detector to use for alignment, by default RASOR_DEFAULT_DET
+    det_name : str, optional
+        The suffix for the detector name, by default RASOR_DEFAULT_DET_NAME_EXTENSION
+    mirror_height_adjust : float, optional
+        The height adjustment of the focusing mirror in mm, this is  by default 0.01
+    mirror_diff_acceptance : float, optional
+        The acceptance of the difference between the two y positions in mm,
+        by default 0.08
+    pin_clear_beam_position : float, optional
+        The position of the pin when it is clear of the beam in mm,
+        by default -2.0
+    pin_half_cut : float, optional
+        The half cut of the pin in mm, by default 1.0
+    """
+    yield from move_pin_origin()
+    yield from bps.abs_set(sample_stage().y, pin_clear_beam_position, wait=True)
+    yield from centre_det_angles(det, det_name)
+    yield from beam_on_pin(det, det_name, pin_half_cut=pin_half_cut)
+    y_0 = yield from bps.rd(sample_stage().y)
+    yield from bps.abs_set(diffractometer().th, 180, wait=True)
+    yield from beam_on_pin(det, det_name, pin_half_cut=y_0)
+    y_180 = yield from bps.rd(sample_stage().y)
+    middle_y = (y_180 + y_0) / 2.0
+    cnt = 0
+    while abs(middle_y - y_180) > mirror_diff_acceptance:
+        yield from bps.rel_set(
+            focusing_mirror().y, mirror_height_adjust * (y_180 - middle_y), wait=True
+        )
+        yield from beam_on_pin(det, det_name, y_180)
+        y_180 = yield from bps.rd(sample_stage().y)
+        cnt += 1
+        if cnt > 5:
+            raise RuntimeError(
+                "Failed to centre the pin on the beam after 5 iterations."
+            )
+    yield from bps.abs_set(diffractometer().th, 0, wait=True)

src/sm_bluesky/common/plans/alignments.py

@@ -8,7 +8,7 @@
 from bluesky.plan_stubs import abs_set, read
 from bluesky.plans import scan
 from bluesky.utils import MsgGenerator, plan
-from ophyd_async.core import StandardReadable
+from ophyd_async.core import SignalRW, StandardReadable
 from ophyd_async.epics.motor import Motor
 
 from sm_bluesky.common.math_functions import cal_range_num
@@ -60,7 +60,7 @@ def scan_and_move_to_fit_pos(funcs: TCallable) -> TCallable:
     @wraps(funcs)
     def inner(
         det: StandardReadable,
-        motor: Motor,
+        motor: Motor | SignalRW,
         fitted_loc: StatPosition,
         detname_suffix: str,
         *args,
@@ -87,7 +87,7 @@ def inner(
 @scan_and_move_to_fit_pos
 def step_scan_and_move_fit(
     det: StandardReadable,
-    motor: Motor,
+    motor: Motor | SignalRW,
     fitted_loc: StatPosition,
     detname_suffix: str,
     start: float,
@@ -121,7 +121,7 @@ def step_scan_and_move_fit(
     """
     LOGGER.info(
         f"Step scanning {motor.name} with {det.name}-{detname_suffix}\
-            pro-scan move to {fitted_loc}"
+            post-scan move to {fitted_loc}"
     )
     return scan([det], motor, start, end, num=num)