Add i21 sample stage

src/dodal/beamlines/b07.py

@@ -9,7 +9,7 @@
 )
 from dodal.devices.electron_analyser.base import EnergySource
 from dodal.devices.electron_analyser.specs import SpecsDetector
-from dodal.devices.motors import XYZPolarStage
+from dodal.devices.motors import XYZAzimuthStage
 from dodal.devices.pgm import PlaneGratingMonochromator
 from dodal.log import set_beamline as set_log_beamline
 from dodal.utils import BeamlinePrefix, get_beamline_name
@@ -54,8 +54,8 @@ def sm52b() -> B07SampleManipulator52B:
 
 
 @devices.factory()
-def sm21b() -> XYZPolarStage:
-    """Sample manipulator. NOTE: The polar attribute is equivalent to GDA roty."""
-    return XYZPolarStage(
-        prefix=f"{B_PREFIX.beamline_prefix}-EA-SM-21:", polar_infix="ROTY"
+def sm21b() -> XYZAzimuthStage:
+    """Sample manipulator. NOTE: The azimuth attribute is equivalent to GDA roty."""
+    return XYZAzimuthStage(
+        prefix=f"{B_PREFIX.beamline_prefix}-EA-SM-21:", azimuth_infix="ROTY"
     )

src/dodal/beamlines/b07_1.py

@@ -9,7 +9,7 @@
 )
 from dodal.devices.electron_analyser.base import EnergySource
 from dodal.devices.electron_analyser.specs import SpecsDetector
-from dodal.devices.motors import XYZPolarAzimuthStage
+from dodal.devices.motors import XYZAzimuthPolarStage
 from dodal.devices.pgm import PlaneGratingMonochromator
 from dodal.log import set_beamline as set_log_beamline
 from dodal.utils import BeamlinePrefix, get_beamline_name
@@ -54,13 +54,13 @@ def analyser(energy_source: EnergySource) -> SpecsDetector[LensMode, PsuMode]:
 
 
 @devices.factory()
-def sm() -> XYZPolarAzimuthStage:
+def sm() -> XYZAzimuthPolarStage:
     """Sample manipulator."""
-    return XYZPolarAzimuthStage(
+    return XYZAzimuthPolarStage(
         f"{C_PREFIX.beamline_prefix}-EA-SM-01:",
         x_infix="XP",
         y_infix="YP",
         z_infix="ZP",
-        polar_infix="ROTA",
         azimuth_infix="ROTB",
+        polar_infix="ROTA",
     )

src/dodal/beamlines/i05_1.py

@@ -1,7 +1,7 @@
 from dodal.beamlines.i05_shared import devices as i05_shared_devices
 from dodal.common.beamlines.beamline_utils import set_beamline as set_utils_beamline
 from dodal.device_manager import DeviceManager
-from dodal.devices.beamlines.i05_1 import XYZPolarAzimuthDefocusStage
+from dodal.devices.beamlines.i05_1 import XYZAzimuthPolarDefocusStage
 from dodal.log import set_beamline as set_log_beamline
 from dodal.utils import BeamlinePrefix, get_beamline_name
 
@@ -15,6 +15,6 @@
 
 
 @devices.factory
-def sm() -> XYZPolarAzimuthDefocusStage:
+def sm() -> XYZAzimuthPolarDefocusStage:
     """Sample Manipulator."""
-    return XYZPolarAzimuthDefocusStage(prefix=f"{PREFIX.beamline_prefix}-EA-SM-01:")
+    return XYZAzimuthPolarDefocusStage(prefix=f"{PREFIX.beamline_prefix}-EA-SM-01:")

src/dodal/beamlines/i09.py

@@ -4,12 +4,12 @@
 from dodal.beamlines.i09_2_shared import devices as i09_2_shared_devices
 from dodal.common.beamlines.beamline_utils import set_beamline as set_utils_beamline
 from dodal.device_manager import DeviceManager
-from dodal.devices.beamlines.i09.enums import LensMode, PassEnergy, PsuMode
+from dodal.devices.beamlines.i09 import LensMode, PassEnergy, PsuMode
 from dodal.devices.common_dcm import DoubleCrystalMonochromatorWithDSpacing
 from dodal.devices.electron_analyser.base import DualEnergySource
 from dodal.devices.electron_analyser.vgscienta import VGScientaDetector
 from dodal.devices.fast_shutter import DualFastShutter, GenericFastShutter
-from dodal.devices.motors import XYZPolarAzimuthStage
+from dodal.devices.motors import XYZAzimuthPolarStage
 from dodal.devices.pgm import PlaneGratingMonochromator
 from dodal.devices.selectable_source import SourceSelector
 from dodal.devices.synchrotron import Synchrotron
@@ -101,6 +101,6 @@ def lakeshore() -> Lakeshore336:
 
 
 @devices.factory()
-def smpm() -> XYZPolarAzimuthStage:
+def smpm() -> XYZAzimuthPolarStage:
     """Sample Manipulator."""
-    return XYZPolarAzimuthStage(prefix=f"{I_PREFIX.beamline_prefix}-MO-SMPM-01:")
+    return XYZAzimuthPolarStage(prefix=f"{I_PREFIX.beamline_prefix}-MO-SMPM-01:")

src/dodal/beamlines/i09_1.py

@@ -5,7 +5,7 @@
 from dodal.devices.common_dcm import DoubleCrystalMonochromatorWithDSpacing
 from dodal.devices.electron_analyser.base import EnergySource
 from dodal.devices.electron_analyser.specs import SpecsDetector
-from dodal.devices.motors import XYZPolarAzimuthTiltStage
+from dodal.devices.motors import XYZAzimuthTiltPolarStage
 from dodal.devices.synchrotron import Synchrotron
 from dodal.devices.temperture_controller import Lakeshore336
 from dodal.log import set_beamline as set_log_beamline
@@ -48,6 +48,6 @@ def lakeshore() -> Lakeshore336:
 
 
 @devices.factory()
-def hsmpm() -> XYZPolarAzimuthTiltStage:
+def hsmpm() -> XYZAzimuthTiltPolarStage:
     """Sample Manipulator."""
-    return XYZPolarAzimuthTiltStage(prefix=f"{PREFIX.beamline_prefix}-MO-HSMPM-01:")
+    return XYZAzimuthTiltPolarStage(prefix=f"{PREFIX.beamline_prefix}-MO-HSMPM-01:")

src/dodal/beamlines/i21.py

@@ -4,7 +4,11 @@
 
 from dodal.common.beamlines.beamline_utils import set_beamline as set_utils_beamline
 from dodal.device_manager import DeviceManager
-from dodal.devices.beamlines.i21 import Grating
+from dodal.devices.beamlines.i21 import (
+    Grating,
+    I21SampleManipulatorStage,
+    ToolPointMotion,
+)
 from dodal.devices.insertion_device import (
     Apple2,
     Apple2EnforceLHMoveController,
@@ -129,3 +133,13 @@ def energy(
 @devices.factory()
 def sample_temperature_controller() -> Lakeshore336:
     return Lakeshore336(prefix=f"{PREFIX.beamline_prefix}-EA-TCTRL-01:")
+
+
+@devices.factory()
+def smp() -> I21SampleManipulatorStage:
+    return I21SampleManipulatorStage(prefix=f"{PREFIX.beamline_prefix}-EA-SMPL-01:")
+
+
+@devices.factory()
+def uvw(smp: I21SampleManipulatorStage) -> ToolPointMotion:
+    return ToolPointMotion(smp)

src/dodal/devices/beamlines/i05/i05_motors.py

@@ -1,20 +1,18 @@
-from dodal.devices.beamlines.i05_shared.rotation_signals import (
-    create_rotational_ij_component_signals,
-)
 from dodal.devices.motors import (
     _AZIMUTH,
     _POLAR,
     _TILT,
     _X,
     _Y,
     _Z,
-    XYZPolarAzimuthTiltStage,
+    XYZAzimuthTiltPolarStage,
+    create_rotational_ij_component_signals,
 )
 
 
-class I05Goniometer(XYZPolarAzimuthTiltStage):
+class I05Goniometer(XYZAzimuthTiltPolarStage):
     """Six-physical-axis stage with a standard xyz translational stage and three axis of
-    rotation: polar, azimuth, and tilt.
+    rotation: azimuth, tilt and polar.
 
     In addition, it defines two virtual translational axes derived signals, `perp` and
     `long`, which form a rotated Cartesian frame within the x-y plane.
@@ -36,9 +34,9 @@ def __init__(
         x_infix: str = _X,
         y_infix: str = _Y,
         z_infix: str = _Z,
-        polar_infix: str = _POLAR,
         azimuth_infix: str = _AZIMUTH,
         tilt_infix: str = _TILT,
+        polar_infix: str = _POLAR,
         rotation_angle_deg: float = 50.0,
         name: str = "",
     ):
@@ -50,9 +48,9 @@ def __init__(
             x_infix=x_infix,
             y_infix=y_infix,
             z_infix=z_infix,
-            polar_infix=polar_infix,
             azimuth_infix=azimuth_infix,
             tilt_infix=tilt_infix,
+            polar_infix=polar_infix,
         )
 
         with self.add_children_as_readables():

src/dodal/devices/beamlines/i05_1/__init__.py

@@ -1,3 +1,3 @@
-from .i05_1_motors import XYZPolarAzimuthDefocusStage
+from .i05_1_motors import XYZAzimuthPolarDefocusStage
 
-__all__ = ["XYZPolarAzimuthDefocusStage"]
+__all__ = ["XYZAzimuthPolarDefocusStage"]

src/dodal/devices/beamlines/i05_1/i05_1_motors.py

@@ -1,14 +1,14 @@
 from ophyd_async.epics.motor import Motor
 
-from dodal.devices.beamlines.i05_shared.rotation_signals import (
+from dodal.devices.motors import (
+    XYZAzimuthPolarStage,
     create_rotational_ij_component_signals,
 )
-from dodal.devices.motors import XYZPolarAzimuthStage
 
 
-class XYZPolarAzimuthDefocusStage(XYZPolarAzimuthStage):
-    """Six-physical-axis stage with a standard xyz stage, 2 axis of rotation: polar,
-    azimuth and one extra tranlastional axis defocus.
+class XYZAzimuthPolarDefocusStage(XYZAzimuthPolarStage):
+    """Six-physical-axis stage with a standard xyz stage, 2 axis of rotation: azimuth,
+    polar and one extra tranlastional axis defocus.
 
     This device exposes four virtual translational axes that are defined in frames
     of reference attached to the sample:
@@ -40,8 +40,8 @@ def __init__(
         x_infix: str = "SMX",
         y_infix: str = "SMY",
         z_infix: str = "SMZ",
-        polar_infix: str = "POL",
         azimuth_infix: str = "AZM",
+        polar_infix: str = "POL",
         defocus_infix: str = "SMDF",
         name: str = "",
     ):
@@ -51,8 +51,8 @@ def __init__(
             x_infix=x_infix,
             y_infix=y_infix,
             z_infix=z_infix,
-            polar_infix=polar_infix,
             azimuth_infix=azimuth_infix,
+            polar_infix=polar_infix,
         )
 
         with self.add_children_as_readables():

src/dodal/devices/beamlines/i21/__init__.py

@@ -1,3 +1,11 @@
 from .enums import Grating
+from .i21_motors import I21SampleManipulatorStage
+from .toolpoint_motion import ToolPointMotion, UVWMotorPositions, XYZMotorPositions
 
-__all__ = ["Grating"]
+__all__ = [
+    "Grating",
+    "I21SampleManipulatorStage",
+    "ToolPointMotion",
+    "UVWMotorPositions",
+    "XYZMotorPositions",
+]

src/dodal/devices/beamlines/i21/i21_motors.py

@@ -0,0 +1,75 @@
+from ophyd_async.epics.motor import Motor
+
+from dodal.devices.motors import (
+    _AZIMUTH,
+    _TILT,
+    _X,
+    _Y,
+    _Z,
+    XYZAzimuthTiltPolarStage,
+    create_rotational_ij_component_signals,
+)
+
+
+class I21SampleManipulatorStage(XYZAzimuthTiltPolarStage):
+    """Seven-axis stage with a standard xyz stage and four axis of rotation: azimuth,
+    tilt, polar, and difftth (diffraction diode rotation). It also exposes two
+    virtual translational axes that are defined in frames of reference attached to the
+    sample.
+
+    - `para` and `perp`:
+        Parallel and perpendicular translation axes in the sample frame.
+        These axes are derived from the lab-frame x and y motors and rotate
+        with the polar angle, so that motion along `para` and `perp`
+        remains aligned with the sample regardless of its polar rotation.
+
+    Both virtual axes behave as ordinary orthogonal Cartesian translations
+    from the user's point of view, while internally coordinating motion of the
+    underlying motors to account for the current rotation angles.
+
+    This allows users to position the sample in physically meaningful, sample-aligned
+    coordinates without needing to manually compensate for polar rotations.
+
+    Note: I21 currently uses the following PV to variable
+    - PV AZIMUTH but calls the variable phi.
+    - PV TILT but calls variable chi.
+    - PV RZ but calls it th (theta).
+
+    Inheriting from standard motor class until decided if i21 uses standard name
+    convention or need to update variables for this class.
+    """
+
+    def __init__(
+        self,
+        prefix: str,
+        name: str = "",
+        x_infix: str = _X,
+        y_infix: str = _Y,
+        z_infix: str = _Z,
+        azimuth_infix: str = _AZIMUTH,
+        tilt_infix: str = _TILT,
+        polar_infix: str = "RZ",
+        difftth_infix: str = "DRING",
+    ):
+        super().__init__(
+            prefix=prefix,
+            name=name,
+            x_infix=x_infix,
+            y_infix=y_infix,
+            z_infix=z_infix,
+            azimuth_infix=azimuth_infix,
+            tilt_infix=tilt_infix,
+            polar_infix=polar_infix,
+        )
+        with self.add_children_as_readables():
+            # Diffraction diode rotation.
+            self.difftth = Motor(prefix + difftth_infix)
+
+            self.para, self.perp = create_rotational_ij_component_signals(
+                i_read=self.x.user_readback,
+                j_read=self.y.user_readback,
+                i_write=self.x,
+                j_write=self.y,
+                angle_deg=self.polar.user_readback,
+                clockwise_frame=False,
+            )