Add fly scan plan stub

.codecov.yml

@@ -8,7 +8,7 @@ coverage:
         threshold: 1%
     patch:
       default:
-        target: auto
+        target: 90
         threshold: 1%
 github_checks:
   annotations: false

src/ophyd_async/core/detector.py

@@ -332,7 +332,7 @@ async def collect_asset_docs(
         # Collect stream datum documents for all indices written.
         # The index is optional, and provided for fly scans, however this needs to be
         # retrieved for step scans.
-        if not index:
+        if index is None:
             index = await self.writer.get_indices_written()
         async for doc in self.writer.collect_stream_docs(index):
             yield doc

src/ophyd_async/core/flyer.py

@@ -39,7 +39,7 @@ class HardwareTriggeredFlyable(
     def __init__(
         self,
         trigger_logic: TriggerLogic[T],
-        configuration_signals: Sequence[SignalR],
+        configuration_signals: Sequence[SignalR] = (),
         name: str = "",
     ):
         self._trigger_logic = trigger_logic

src/ophyd_async/epics/areadetector/writers/hdf_writer.py

@@ -43,12 +43,13 @@ def __init__(
     async def open(self, multiplier: int = 1) -> Dict[str, DataKey]:
         self._file = None
         info = self._directory_provider()
+        file_path = str(info.root / info.resource_dir)
         await asyncio.gather(
             self.hdf.num_extra_dims.set(0),
             self.hdf.lazy_open.set(True),
             self.hdf.swmr_mode.set(True),
             # See https://github.com/bluesky/ophyd-async/issues/122
-            self.hdf.file_path.set(str(info.root / info.resource_dir)),
+            self.hdf.file_path.set(file_path),
             self.hdf.file_name.set(f"{info.prefix}{self.hdf.name}{info.suffix}"),
             self.hdf.file_template.set("%s/%s.h5"),
             self.hdf.file_write_mode.set(FileWriteMode.stream),
@@ -59,7 +60,7 @@ async def open(self, multiplier: int = 1) -> Dict[str, DataKey]:
 
         assert (
             await self.hdf.file_path_exists.get_value()
-        ), f"File path {self.hdf.file_path.get_value()} for hdf plugin does not exist"
+        ), f"File path {file_path} for hdf plugin does not exist"
 
         # Overwrite num_capture to go forever
         await self.hdf.num_capture.set(0)

src/ophyd_async/panda/writers/_hdf_writer.py

@@ -79,10 +79,10 @@ async def get_signals_marked_for_capture(
         capture_signals.keys(), capture_signals.values(), signal_values
     ):
         signal_path = signal_path.replace("_capture", "")
-        if (signal_value.value in iter(Capture)) and (signal_value.value != Capture.No):
+        if (signal_value in iter(Capture)) and (signal_value != Capture.No):
             signals_to_capture[signal_path] = CaptureSignalWrapper(
                 signal_object,
-                signal_value.value,
+                signal_value,
             )
 
     return signals_to_capture
@@ -126,7 +126,7 @@ async def open(self, multiplier: int = 1) -> Dict[str, DataKey]:
                 str(info.root / info.resource_dir)
             ),
             self.panda_device.data.hdf_file_name.set(
-                f"{info.prefix}{self.panda_device.name}{info.suffix}",
+                f"{info.prefix}{self.panda_device.name}{info.suffix}.h5",
             ),
             self.panda_device.data.num_capture.set(0),
         )
@@ -149,7 +149,7 @@ async def open(self, multiplier: int = 1) -> Dict[str, DataKey]:
                 else split_path[-2]
             )
 
-            for suffix in str(capture_signal.capture_type).split(" "):
+            for suffix in capture_signal.capture_type.split(" "):
                 self._datasets.append(
                     _HDFDataset(
                         name,

src/ophyd_async/planstubs/__init__.py → src/ophyd_async/plan_stubs/__init__.py

@@ -1,9 +1,11 @@
 from .ensure_connected import ensure_connected
-from .prepare_trigger_and_dets import (
+from .fly import (
     prepare_static_seq_table_flyer_and_detectors_with_same_trigger,
+    time_resolved_fly_and_collect_with_static_seq_table,
 )
 
 __all__ = [
+    "time_resolved_fly_and_collect_with_static_seq_table",
     "prepare_static_seq_table_flyer_and_detectors_with_same_trigger",
     "ensure_connected",
 ]

src/ophyd_async/plan_stubs/fly.py

@@ -0,0 +1,130 @@
+from typing import List
+
+import bluesky.plan_stubs as bps
+from bluesky.utils import short_uid
+
+from ophyd_async.core.detector import DetectorTrigger, StandardDetector, TriggerInfo
+from ophyd_async.core.flyer import HardwareTriggeredFlyable
+from ophyd_async.core.utils import in_micros
+from ophyd_async.panda._table import SeqTable, SeqTableRow, seq_table_from_rows
+from ophyd_async.panda._trigger import SeqTableInfo
+
+
+def time_resolved_fly_and_collect_with_static_seq_table(
+    stream_name: str,
+    detectors: List[StandardDetector],
+    flyer: HardwareTriggeredFlyable[SeqTableInfo],
+    number_of_frames: int,
+    exposure: int,
+    shutter_time: float,
+    repeats: int = 1,
+    period: float = 0.0,
+):
+    """Run a scan wth a flyer and multiple detectors.
+
+    The standard basic flow for a flyscan:
+
+    - Set up the flyer with a static sequence table and detectors with a trigger
+    - Declare the stream and kickoff the scan
+    - Collect while completing
+
+    This needs to be used in a plan that instantates detectors and a flyer,
+    stages/unstages the devices, and opens and closes the run.
+
+    """
+    # Set up scan and prepare trigger
+    deadtime = max(det.controller.get_deadtime(exposure) for det in detectors)
+    yield from prepare_static_seq_table_flyer_and_detectors_with_same_trigger(
+        flyer,
+        detectors,
+        number_of_frames=number_of_frames,
+        exposure=exposure,
+        deadtime=deadtime,
+        shutter_time=shutter_time,
+        repeats=repeats,
+        period=period,
+    )
+    yield from bps.declare_stream(*detectors, name=stream_name, collect=True)
+    yield from bps.kickoff(flyer, wait=True)
+    for detector in detectors:
+        yield from bps.kickoff(detector)
+
+    # collect_while_completing
+    group = short_uid(label="complete")
+
+    yield from bps.complete(flyer, wait=False, group=group)
+    for detector in detectors:
+        yield from bps.complete(detector, wait=False, group=group)
+
+    done = False
+    while not done:
+        try:
+            yield from bps.wait(group=group, timeout=0.5)
+        except TimeoutError:
+            pass
+        else:
+            done = True
+        yield from bps.collect(
+            *detectors,
+            return_payload=False,
+            name=stream_name,
+        )
+    yield from bps.wait(group=group)
+
+
+def prepare_static_seq_table_flyer_and_detectors_with_same_trigger(
+    flyer: HardwareTriggeredFlyable[SeqTableInfo],
+    detectors: List[StandardDetector],
+    number_of_frames: int,
+    exposure: float,
+    deadtime: float,
+    shutter_time: float,
+    repeats: int = 1,
+    period: float = 0.0,
+):
+    """Prepare a hardware triggered flyable and one or more detectors.
+
+    Prepare a hardware triggered flyable and one or more detectors with the
+    same trigger. This method constructs TriggerInfo and a static sequence
+    table from required parameters. The table is required to prepare the flyer,
+    and the TriggerInfo is required to prepare the detector(s).
+
+    This prepares all supplied detectors with the same trigger.
+
+    """
+    trigger_info = TriggerInfo(
+        num=number_of_frames * repeats,
+        trigger=DetectorTrigger.constant_gate,
+        deadtime=deadtime,
+        livetime=exposure,
+    )
+
+    trigger_time = number_of_frames * (exposure + deadtime)
+    pre_delay = max(period - 2 * shutter_time - trigger_time, 0)
+
+    table: SeqTable = seq_table_from_rows(
+        # Wait for pre-delay then open shutter
+        SeqTableRow(
+            time1=in_micros(pre_delay),
+            time2=in_micros(shutter_time),
+            outa2=True,
+        ),
+        # Keeping shutter open, do N triggers
+        SeqTableRow(
+            repeats=number_of_frames,
+            time1=in_micros(exposure),
+            outa1=True,
+            outb1=True,
+            time2=in_micros(deadtime),
+            outa2=True,
+        ),
+        # Add the shutter close
+        SeqTableRow(time2=in_micros(shutter_time)),
+    )
+
+    table_info = SeqTableInfo(table, repeats)
+
+    for det in detectors:
+        yield from bps.prepare(det, trigger_info, wait=False, group="prep")
+    yield from bps.prepare(flyer, table_info, wait=False, group="prep")
+    yield from bps.wait(group="prep")

tests/core/test_device.py

@@ -15,9 +15,7 @@
 )
 from ophyd_async.core.soft_signal_backend import SoftSignalBackend
 from ophyd_async.epics.motion import motor
-from ophyd_async.planstubs.ensure_connected import (
-    ensure_connected,
-)
+from ophyd_async.plan_stubs.ensure_connected import ensure_connected
 from ophyd_async.sim.demo.sim_motor import SimMotor
 
 

tests/core/test_flyer.py

@@ -109,7 +109,7 @@ async def close(self) -> None:
 
 
 @pytest.fixture
-async def detector_list(RE: RunEngine) -> tuple[StandardDetector, StandardDetector]:
+async def detectors(RE: RunEngine) -> tuple[StandardDetector, StandardDetector]:
     writers = [DummyWriter("testa", (1, 1)), DummyWriter("testb", (1, 1))]
     await writers[0].dummy_signal.connect(mock=True)
     await writers[1].dummy_signal.connect(mock=True)
@@ -137,7 +137,7 @@ async def dummy_arm_2(self=None, trigger=None, num=0, exposure=None):
 
 
 async def test_hardware_triggered_flyable(
-    RE: RunEngine, detector_list: tuple[StandardDetector]
+    RE: RunEngine, detectors: tuple[StandardDetector]
 ):
     names = []
     docs = []
@@ -155,39 +155,39 @@ def append_and_print(name, doc):
     )
 
     def flying_plan():
-        yield from bps.stage_all(*detector_list, flyer)
+        yield from bps.stage_all(*detectors, flyer)
         assert flyer._trigger_logic.state == TriggerState.stopping
 
         # move the flyer to the correct place, before fly scanning.
         # Prepare the flyer first to get the trigger info for the detectors
         yield from bps.prepare(flyer, 1, wait=True)
 
         # prepare detectors second.
-        for detector in detector_list:
+        for detector in detectors:
             yield from bps.prepare(
                 detector,
                 trigger_info,
                 wait=True,
             )
 
         assert flyer._trigger_logic.state == TriggerState.preparing
-        for detector in detector_list:
+        for detector in detectors:
             detector.controller.disarm.assert_called_once  # type: ignore
 
         yield from bps.open_run()
-        yield from bps.declare_stream(*detector_list, name="main_stream", collect=True)
+        yield from bps.declare_stream(*detectors, name="main_stream", collect=True)
 
         yield from bps.kickoff(flyer)
-        for detector in detector_list:
+        for detector in detectors:
             yield from bps.kickoff(detector)
 
         yield from bps.complete(flyer, wait=False, group="complete")
-        for detector in detector_list:
+        for detector in detectors:
             yield from bps.complete(detector, wait=False, group="complete")
         assert flyer._trigger_logic.state == TriggerState.null
 
         # Manually incremenet the index as if a frame was taken
-        for detector in detector_list:
+        for detector in detectors:
             detector.writer.index += 1
 
         done = False
@@ -199,15 +199,15 @@ def flying_plan():
             else:
                 done = True
             yield from bps.collect(
-                *detector_list,
+                *detectors,
                 return_payload=False,
                 name="main_stream",
             )
         yield from bps.wait(group="complete")
         yield from bps.close_run()
 
-        yield from bps.unstage_all(flyer, *detector_list)
-        for detector in detector_list:
+        yield from bps.unstage_all(flyer, *detectors)
+        for detector in detectors:
             assert detector.controller.disarm.called  # type: ignore
         assert trigger_logic.state == TriggerState.stopping