Update Vertical Goniometer of i24 (DiamondLightSource#891)

* Convert to ophyd_async, remove old axes and rename

* Rename

* Add a couple of small tests

* Update beamlines test

* Fix linting

src/dodal/beamlines/i24.py

@@ -11,8 +11,8 @@
 from dodal.devices.i24.dcm import DCM
 from dodal.devices.i24.dual_backlight import DualBacklight
 from dodal.devices.i24.i24_detector_motion import DetectorMotion
-from dodal.devices.i24.i24_vgonio import VGonio
 from dodal.devices.i24.pmac import PMAC
+from dodal.devices.i24.vgonio import VerticalGoniometer
 from dodal.devices.oav.oav_detector import OAV
 from dodal.devices.oav.oav_parameters import OAVConfig
 from dodal.devices.zebra import Zebra
@@ -154,12 +154,12 @@ def oav(wait_for_connection: bool = True, fake_with_ophyd_sim: bool = False) ->
 @skip_device(lambda: BL == "s24")
 def vgonio(
     wait_for_connection: bool = True, fake_with_ophyd_sim: bool = False
-) -> VGonio:
-    """Get the i24 vgonio device, instantiate it if it hasn't already been.
+) -> VerticalGoniometer:
+    """Get the i24 vertical goniometer device, instantiate it if it hasn't already been.
     If this is called when already instantiated, it will return the existing object.
     """
     return device_instantiation(
-        VGonio,
+        VerticalGoniometer,
         "vgonio",
         "-MO-VGON-01:",
         wait_for_connection,

src/dodal/devices/i24/vgonio.py

@@ -0,0 +1,16 @@
+from ophyd_async.core import StandardReadable
+from ophyd_async.epics.motor import Motor
+
+
+class VerticalGoniometer(StandardReadable):
+    def __init__(self, prefix: str, name: str = "") -> None:
+        self.x = Motor(prefix + "PINX")
+        self.z = Motor(prefix + "PINZ")
+        self.yh = Motor(prefix + "PINYH")
+        self.omega = Motor(prefix + "OMEGA")
+
+        self.real_x = Motor(prefix + "PINXS")
+        self.real_z = Motor(prefix + "PINZS")
+        self.fast_y = Motor(prefix + "PINYS")
+
+        super().__init__(name)

tests/beamlines/unit_tests/test_i24.py

@@ -1,12 +1,27 @@
 import pytest
 
-from dodal.devices.i24.i24_vgonio import VGonio
+from dodal.beamlines import i24
+from dodal.common.beamlines import beamline_utils
+from dodal.devices.i24.vgonio import VerticalGoniometer
+
+
+def test_list():
+    beamline_utils.clear_devices()
+    i24.zebra(wait_for_connection=False, fake_with_ophyd_sim=True)
+    i24.pmac(wait_for_connection=False, fake_with_ophyd_sim=True)
+    i24.vgonio(wait_for_connection=False, fake_with_ophyd_sim=True)
+    assert beamline_utils.list_active_devices() == [
+        "zebra",
+        "pmac",
+        "vgonio",
+    ]
 
 
 @pytest.mark.parametrize("module_and_devices_for_beamline", ["i24"], indirect=True)
 def test_device_creation(RE, module_and_devices_for_beamline):
     _, devices, exceptions = module_and_devices_for_beamline
     assert not exceptions
-    vgonio: VGonio = devices["vgonio"]  # type: ignore
-    assert vgonio.prefix == "BL24I-MO-VGON-01:"
-    assert vgonio.kappa.prefix == "BL24I-MO-VGON-01:KAPPA"
+    vgonio: VerticalGoniometer = devices["vgonio"]  # type: ignore
+
+    assert vgonio._name == "vgonio"
+    assert vgonio.omega._name == "vgonio-omega"

tests/devices/unit_tests/i24/test_vgonio.py

@@ -0,0 +1,25 @@
+import bluesky.plan_stubs as bps
+import pytest
+
+from dodal.devices.i24.vgonio import VerticalGoniometer
+from dodal.devices.util.test_utils import patch_motor
+
+
+@pytest.fixture
+async def vgonio(RE):
+    vgonio = VerticalGoniometer("", name="fake_vgonio")
+    await vgonio.connect(mock=True)
+    with patch_motor(vgonio.x), patch_motor(vgonio.yh), patch_motor(vgonio.z):
+        yield vgonio
+
+
+def test_vertical_gonio_device_can_be_created(vgonio: VerticalGoniometer):
+    assert isinstance(vgonio, VerticalGoniometer)
+
+
+async def test_vgonio_motor_move(vgonio: VerticalGoniometer, RE):
+    pos = (1.0, 1.5)
+    RE(bps.mv(vgonio.x, pos[0], vgonio.yh, pos[1]))  # type:ignore
+
+    assert await vgonio.x.user_readback.get_value() == 1.0
+    assert await vgonio.yh.user_readback.get_value() == 1.5