Ophyd async motor limit check in smargon (#1511)

* Wait for motors to start moving when doing deferred moves

* Fix tests and linting

* Check setpoints rather than dmov

* Fix test

* Fix typing

* Fix tests

* Add motor limit checking from ophyd_async

* Add mock values for motor limit

* Add test for MotorLimitsException to be correctly raised

* Fix linting

* move patch_motors to dodal.testing

* Fix wrong comparision between signal and float

* Change ophyd-async requirement to test motor limit

* Revert "Change ophyd-async requirement to test motor limit"

This reverts commit 0a064f2.

* Add dev-requirements.txt

* Try changing pyproject.toml

* Revert "Try changing pyproject.toml"

This reverts commit e8fa65f.

* Move dev-requirements.txt around

* Revert "Move dev-requirements.txt around"

This reverts commit 9d3dd24.

* Test

* Fix spelling

* Chnge pyproject.toml

* test

* test

* Changed pyproject.toml for ophyd-async

* Fix typo

* Added arguments for default values with doc string

* Updated docs

* Changing test

* Fix test in i10apple2

* Test

* Fixed i10 id and undulator_dcm tests

* test

* test

* test

* Add mock value for mock_id_pgm

* Add mock value for slits in bimorph mirror

* Fix bimorph test high limit sign typo

* Fix typo

* fixed bimorph test

* Removed unused import

* Update more tests to use proper motor patch

* Change test value due to change in mock limit

* Change limit for testing outside limit

* Remove test_utils.py in the wrong place

* Remove motor limit setting in test in i10apple2

* Removing the pin to ophyd-async as there is new release

* Removing the pin to ophyd-async as there is new release

* set mock value in test outside motor limit in smaron

* Revert "Change limit for testing outside limit"

This reverts commit c97e07e.

---------

Co-authored-by: Dominic Oram <[email protected]>
Co-authored-by: Oli Wenman <[email protected]>
Co-authored-by: oliwenmandiamond <[email protected]>

Author: 3 people

pyproject.toml

@@ -14,7 +14,7 @@ description = "Ophyd devices and other utils that could be used across DLS beaml
 dependencies = [
     "click",
     "ophyd",
-    "ophyd-async[ca,pva]>=0.13.0",
+    "ophyd-async[ca,pva]>=0.13.2",
     "bluesky==1.14.2",  # https://github.com/bluesky/bluesky/issues/1938
     "pyepics",
     "dataclasses-json",

src/dodal/devices/smargon.py

@@ -177,6 +177,9 @@ async def set(self, value: CombinedMove):
             for motor_name, new_setpoint in value.items():
                 if new_setpoint is not None and isinstance(new_setpoint, int | float):
                     axis: Motor = getattr(self, motor_name)
+                    await axis.check_motor_limit(
+                        await axis.user_setpoint.get_value(), new_setpoint
+                    )
                     put_completion = await set_and_wait_for_value(
                         axis.user_setpoint,
                         new_setpoint,

tests/devices/test_smargon.py

@@ -5,6 +5,7 @@
 from bluesky import plan_stubs as bps
 from bluesky.run_engine import RunEngine
 from ophyd_async.core import init_devices, observe_value
+from ophyd_async.epics.motor import MotorLimitsException
 from ophyd_async.testing import get_mock_put, set_mock_value
 
 from dodal.devices.smargon import CombinedMove, DeferMoves, Smargon, StubPosition
@@ -87,6 +88,52 @@ async def test_given_center_disp_low_when_stub_offsets_set_to_center_and_moved_t
     assert await smargon.stub_offsets.to_robot_load.proc.get_value() == 0
 
 
+@pytest.mark.parametrize(
+    "test_x, test_y, test_z, test_omega, test_chi, test_phi",
+    [
+        (2000, 20, 30, 5, 15, 25),  # x goes beyond upper limit
+        (-2000, 20, 30, 5, 15, 25),  # x goes beyond lower limit
+        (10, 2000, 30, 5, 15, 25),  # y goes beyond upper limit
+        (10, -2000, 30, 5, 15, 25),  # y goes beyond lower limit
+        (10, 20, 2000, 5, 15, 25),  # z goes beyond upper limit
+        (10, 20, -2000, 5, 15, 25),  # z goes beyond lower limit
+        (10, 20, 30, 2000, 15, 25),  # omega goes beyond upper limit
+        (10, 20, 30, -2000, 15, 25),  # omega goes beyond lower limit
+        (10, 20, 30, 5, 2000, 25),  # chi goes beyond upper limit
+        (10, 20, 30, 5, -2000, 25),  # chi goes beyond lower limit
+        (10, 20, 30, 5, 15, 2000),  # phi goes beyond upper limit
+        (10, 20, 30, 5, 15, -2000),  # phi goes beyond lower limit
+    ],
+)
+async def test_given_set_with_value_outside_motor_limit(
+    smargon: Smargon, test_x, test_y, test_z, test_omega, test_chi, test_phi
+):
+    set_mock_value(smargon.x.low_limit_travel, -1999)
+    set_mock_value(smargon.y.low_limit_travel, -1999)
+    set_mock_value(smargon.z.low_limit_travel, -1999)
+    set_mock_value(smargon.omega.low_limit_travel, -1999)
+    set_mock_value(smargon.chi.low_limit_travel, -1999)
+    set_mock_value(smargon.phi.low_limit_travel, -1999)
+    set_mock_value(smargon.x.high_limit_travel, 1999)
+    set_mock_value(smargon.y.high_limit_travel, 1999)
+    set_mock_value(smargon.z.high_limit_travel, 1999)
+    set_mock_value(smargon.omega.high_limit_travel, 1999)
+    set_mock_value(smargon.chi.high_limit_travel, 1999)
+    set_mock_value(smargon.phi.high_limit_travel, 1999)
+
+    with pytest.raises(MotorLimitsException):
+        await smargon.set(
+            CombinedMove(
+                x=test_x,
+                y=test_y,
+                z=test_z,
+                omega=test_omega,
+                chi=test_chi,
+                phi=test_phi,
+            )
+        )
+
+
 async def test_given_set_with_single_value_then_that_motor_moves(smargon: Smargon):
     await smargon.set(CombinedMove(x=10))