Clear error 40 before robot load (#722)

* feat: Add conditional robot reset if error 40 and unit test

* refactor: Remove unused fixtures

* Change dodal commit for tests

* Refactor variable names and assert condition

---------

Co-authored-by: Shihab Suliman <rye74444@ws557.diamond.ac.uk>

pyproject.toml

@@ -46,7 +46,7 @@ dependencies = [
     "ophyd == 1.9.0",
     "ophyd-async >= 0.8a5",
     "bluesky >= 1.13.0a4",
-    "dls-dodal @ git+https://github.com/DiamondLightSource/dodal.git@987bc78925685dfa7237c58fd36e74060d73dbd4",
+    "dls-dodal @ git+https://github.com/DiamondLightSource/dodal.git@00858ea059bb147c04fdc51a478bd2674ca4ea00",
 ]
 
 

src/mx_bluesky/hyperion/experiment_plans/robot_load_and_change_energy.py

@@ -122,6 +122,11 @@ def do_robot_load(
     demand_energy_ev: float | None,
     thawing_time: float,
 ):
+    error_code = yield from bps.rd(composite.robot.error_code)
+    # Reset robot if light curtains were tripped
+    if error_code == 40:
+        yield from bps.trigger(composite.robot.reset, wait=True)
+
     yield from bps.abs_set(
         composite.robot,
         sample_location,

tests/unit_tests/hyperion/experiment_plans/test_robot_load_and_change_energy.py

@@ -16,6 +16,8 @@
 from mx_bluesky.common.parameters.robot_load import RobotLoadAndEnergyChange
 from mx_bluesky.hyperion.experiment_plans.robot_load_and_change_energy import (
     RobotLoadAndEnergyChangeComposite,
+    SampleLocation,
+    do_robot_load,
     prepare_for_robot_load,
     robot_load_and_change_energy_plan,
     take_robot_snapshots,
@@ -165,6 +167,41 @@ async def test_when_prepare_for_robot_load_called_then_moves_as_expected(
     aperture_scatterguard.set.assert_called_once_with(ApertureValue.ROBOT_LOAD)  # type: ignore
 
 
+@patch(
+    "mx_bluesky.hyperion.experiment_plans.robot_load_and_change_energy.set_energy_plan",
+    MagicMock(return_value=iter([])),
+)
+@patch(
+    "mx_bluesky.hyperion.experiment_plans.robot_load_and_change_energy.bps.trigger",
+)
+async def test_when_error_40_reset_robot_before_load(
+    mock_reset_error: MagicMock,
+    robot_load_and_energy_change_composite: RobotLoadAndEnergyChangeComposite,
+    robot_load_and_energy_change_params: RobotLoadAndEnergyChange,
+):
+    assert robot_load_and_energy_change_params.sample_puck is not None
+    assert robot_load_and_energy_change_params.sample_pin is not None
+
+    sample_location = SampleLocation(
+        robot_load_and_energy_change_params.sample_puck,
+        robot_load_and_energy_change_params.sample_pin,
+    )
+
+    demand_energy_ev = robot_load_and_energy_change_params.demand_energy_ev
+
+    set_mock_value(robot_load_and_energy_change_composite.robot.error_code, 40)
+
+    RE = RunEngine()
+    RE(
+        # Thawing time set to arbitrary value
+        do_robot_load(
+            robot_load_and_energy_change_composite, sample_location, demand_energy_ev, 0
+        )
+    )
+
+    mock_reset_error.assert_called_once()
+
+
 @patch(
     "mx_bluesky.hyperion.external_interaction.callbacks.robot_load.ispyb_callback.ExpeyeInteraction"
 )