121 dodal integration (#171)

* Add dodal git dependency

* Add initial dodal device loading to context

* Allow only dodal style device modules

* Allow list of device and plan sources

* Enable context to search multiple modules for devices and plans

* Update to use dodal function format

* Add checking when adding devices to context

* Update p45 config to use dodal

* Update adsim.yaml to use multiple sources

* Update worker config for multiple sources

* Add module loading tests for context
DiamondLightSource/python3-pip-skeleton#127
* Correct ignore pre-commit comment

* Make module name qualification explicit

* Swap typedict for basemodel in config

* Test device functions with dependencies

* Make source type an enum

* Allocate device and plan adding based on source kind

* Change source type to kind

* Remove unused imports

* Make test context use default environment config

* Update source format

* Update enum case to abide by pep8

* Update dodal dependency format

* Exclude dodal from lockfile

Avoids current skeleton bug, DiamondLightSource/python3-pip-skeleton#127.

.github/actions/install_requirements/action.yml

@@ -30,7 +30,7 @@ runs:
     - name: Create lockfile
       run: |
         mkdir -p lockfiles
-        pip freeze --exclude-editable > lockfiles/${{ inputs.requirements_file }}
+        pip freeze --exclude-editable --exclude dodal > lockfiles/${{ inputs.requirements_file }}
         # delete the self referencing line and make sure it isn't blank
         sed -i '/file:/d' lockfiles/${{ inputs.requirements_file }}
       shell: bash
@@ -55,4 +55,3 @@ runs:
           fi
         fi
       shell: bash
-

config/adsim.yaml

@@ -1,2 +1,6 @@
 env:
-  startupScript: blueapi.startup.adsim
+  sources:
+    - kind: deviceFunctions
+      module: blueapi.startup.adsim
+    - kind: planFunctions
+      module: blueapi.startup.adsim

config/bl45p.yaml

@@ -1,2 +1,6 @@
 env:
-  startupScript: blueapi.startup.bl45p
+  sources:
+    - kind: dodal
+      module: dodal.p45
+    - kind: planFunctions
+      module: blueapi.plans

config/defaults.yaml

@@ -1,5 +1,9 @@
 env:
-  startupScript: blueapi.startup.example
+  sources:
+    - kind: deviceFunctions
+      module: blueapi.startup.example
+    - kind: planFunctions
+      module: blueapi.plans
 stomp:
   host: localhost
   port: 61613

helm/blueapi/values.yaml

@@ -59,7 +59,11 @@ affinity: {}
 
 worker:
   env:
-    startupScript: blueapi.startup.example
+    sources:
+      - kind: deviceFunctions
+        module: blueapi.startup.example
+      - kind: planFunctions
+        module: blueapi.plans
   stomp:
     host: activemq
     port: 61613

pyproject.toml

@@ -25,6 +25,8 @@ dependencies = [
     "fastapi[all]",
     "uvicorn",
     "requests",
+    "dodal @ git+https://github.com/DiamondLightSource/dodal.git",
+
 ]
 dynamic = ["version"]
 license.file = "LICENSE"
@@ -70,6 +72,7 @@ write_to = "src/blueapi/_version.py"
 
 [tool.mypy]
 ignore_missing_imports = true # Ignore missing stubs in imported modules
+namespace_packages = false    # rely only on __init__ files to determine fully qualified module names.
 
 [tool.isort]
 float_to_top = true

src/blueapi/config.py

@@ -1,3 +1,4 @@
+from enum import Enum
 from pathlib import Path
 from typing import Any, Generic, Literal, Mapping, Type, TypeVar, Union
 
@@ -9,7 +10,18 @@
 LogLevel = Literal["NOTSET", "DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL"]
 
 
-class StompConfig(BlueapiBaseModel):
+class SourceKind(str, Enum):
+    PLAN_FUNCTIONS = "planFunctions"
+    DEVICE_FUNCTIONS = "deviceFunctions"
+    DODAL = "dodal"
+
+
+class Source(BaseModel):
+    kind: SourceKind
+    module: Union[Path, str]
+
+
+class StompConfig(BaseModel):
     """
     Config for connecting to stomp broker
     """
@@ -23,11 +35,14 @@ class EnvironmentConfig(BlueapiBaseModel):
     Config for the RunEngine environment
     """
 
-    startup_script: Union[Path, str] = "blueapi.startup.example"
+    sources: list[Source] = [
+        Source(kind=SourceKind.DEVICE_FUNCTIONS, module="blueapi.startup.example"),
+        Source(kind=SourceKind.PLAN_FUNCTIONS, module="blueapi.plans"),
+    ]
 
     def __eq__(self, other: object) -> bool:
         if isinstance(other, EnvironmentConfig):
-            return str(self.startup_script) == str(other.startup_script)
+            return str(self.sources) == str(other.sources)
         return False
 
 

src/blueapi/core/context.py

@@ -2,7 +2,6 @@
 from dataclasses import dataclass, field
 from importlib import import_module
 from inspect import Parameter, signature
-from pathlib import Path
 from types import ModuleType
 from typing import (
     Any,
@@ -24,6 +23,7 @@
 from pydantic import create_model
 from pydantic.fields import FieldInfo
 
+from blueapi.config import EnvironmentConfig, SourceKind
 from blueapi.utils import BlueapiPlanModelConfig, load_module_all
 
 from .bluesky_types import (
@@ -73,13 +73,16 @@ def find_device(self, addr: Union[str, List[str]]) -> Optional[Device]:
         else:
             return find_component(self.devices, addr)
 
-    def with_startup_script(self, path: Union[Path, str]) -> None:
-        mod = import_module(str(path))
-        self.with_module(mod)
+    def with_config(self, config: EnvironmentConfig) -> None:
+        for source in config.sources:
+            mod = import_module(str(source.module))
 
-    def with_module(self, module: ModuleType) -> None:
-        self.with_plan_module(module)
-        self.with_device_module(module)
+            if source.kind is SourceKind.PLAN_FUNCTIONS:
+                self.with_plan_module(mod)
+            elif source.kind is SourceKind.DEVICE_FUNCTIONS:
+                self.with_device_module(mod)
+            elif source.kind is SourceKind.DODAL:
+                self.with_dodal_module(mod)
 
     def with_plan_module(self, module: ModuleType) -> None:
         """
@@ -106,9 +109,13 @@ def plan_2(...):
                 self.plan(obj)
 
     def with_device_module(self, module: ModuleType) -> None:
-        for obj in load_module_all(module):
-            if is_bluesky_compatible_device(obj):
-                self.device(obj)
+        self.with_dodal_module(module)
+
+    def with_dodal_module(self, module: ModuleType) -> None:
+        from dodal.utils import make_all_devices
+
+        for device in make_all_devices(module).values():
+            self.device(device)
 
     def plan(self, plan: PlanGenerator) -> PlanGenerator:
         """

src/blueapi/service/handler.py

@@ -22,7 +22,7 @@ def __init__(self, config: Optional[ApplicationConfig] = None) -> None:
 
         logging.basicConfig(level=self.config.logging.level)
 
-        self.context.with_startup_script(self.config.env.startup_script)
+        self.context.with_config(self.config.env)
 
         self.worker = RunEngineWorker(self.context)
         self.message_bus = StompMessagingTemplate.autoconfigured(self.config.stomp)

src/blueapi/startup/example.py

@@ -1,38 +1,74 @@
 from ophyd.sim import Syn2DGauss, SynGauss, SynSignal
 
-from blueapi.plans import *  # noqa: F401, F403
-
 from .simmotor import BrokenSynAxis, SynAxisWithMotionEvents
 
-x = SynAxisWithMotionEvents(name="x", delay=1.0, events_per_move=8)
-y = SynAxisWithMotionEvents(name="y", delay=3.0, events_per_move=24)
-z = SynAxisWithMotionEvents(name="z", delay=2.0, events_per_move=16)
-theta = SynAxisWithMotionEvents(
-    name="theta", delay=0.2, events_per_move=12, egu="degrees"
-)
-x_err = BrokenSynAxis(name="x_err", timeout=1.0)
-sample_pressure = SynAxisWithMotionEvents(
-    name="sample_pressure", delay=30.0, events_per_move=128, egu="MPa", value=0.101
-)
-sample_temperature = SynSignal(
-    func=lambda: ((x.position + y.position + z.position) / 1000.0) + 20.0,
+
+def x(name="x") -> SynAxisWithMotionEvents:
+    return SynAxisWithMotionEvents(name=name, delay=1.0, events_per_move=8)
+
+
+def y(name="y") -> SynAxisWithMotionEvents:
+    return SynAxisWithMotionEvents(name=name, delay=3.0, events_per_move=24)
+
+
+def z(name="z") -> SynAxisWithMotionEvents:
+    return SynAxisWithMotionEvents(name=name, delay=2.0, events_per_move=16)
+
+
+def theta(name="theta") -> SynAxisWithMotionEvents:
+    return SynAxisWithMotionEvents(
+        name=name, delay=0.2, events_per_move=12, egu="degrees"
+    )
+
+
+def x_err(name="x_err") -> BrokenSynAxis:
+    return BrokenSynAxis(name=name, timeout=1.0)
+
+
+def sample_pressure(name="sample_pressure") -> SynAxisWithMotionEvents:
+    return SynAxisWithMotionEvents(
+        name=name, delay=30.0, events_per_move=128, egu="MPa", value=0.101
+    )
+
+
+def sample_temperature(
+    x: SynAxisWithMotionEvents,
+    y: SynAxisWithMotionEvents,
+    z: SynAxisWithMotionEvents,
     name="sample_temperature",
-)
-image_det = Syn2DGauss(
+) -> SynSignal:
+    return SynSignal(
+        func=lambda: ((x.position + y.position + z.position) / 1000.0) + 20.0,
+        name=name,
+    )
+
+
+def image_det(
+    x: SynAxisWithMotionEvents,
+    y: SynAxisWithMotionEvents,
     name="image_det",
-    motor0=x,
-    motor_field0="x",
-    motor1=y,
-    motor_field1="y",
-    center=(0, 0),
-    Imax=1,
-    labels={"detectors"},
-)
-current_det = SynGauss(
+) -> Syn2DGauss:
+    return Syn2DGauss(
+        name=name,
+        motor0=x,
+        motor_field0="x",
+        motor1=y,
+        motor_field1="y",
+        center=(0, 0),
+        Imax=1,
+        labels={"detectors"},
+    )
+
+
+def current_det(
+    x: SynAxisWithMotionEvents,
     name="current_det",
-    motor=x,
-    motor_field="x",
-    center=0.0,
-    Imax=1,
-    labels={"detectors"},
-)
+) -> SynGauss:
+    return SynGauss(
+        name=name,
+        motor=x,
+        motor_field="x",
+        center=0.0,
+        Imax=1,
+        labels={"detectors"},
+    )