Reduce motor stage boilerplate

src/dodal/beamlines/adsim.py

@@ -73,9 +73,7 @@ def path_provider():
 
 @devices.factory()
 def stage() -> XThetaStage:
-    return XThetaStage(
-        f"{PREFIX.beamline_prefix}-MO-SIMC-01:", x_infix="M1", theta_infix="M2"
-    )
+    return XThetaStage(f"{PREFIX.beamline_prefix}-MO-SIMC-01:", x="M1", theta="M2")
 
 
 @devices.factory()

src/dodal/beamlines/b07.py

@@ -56,6 +56,4 @@ 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"
-    )
+    return XYZPolarStage(prefix=f"{B_PREFIX.beamline_prefix}-EA-SM-21:", polar="ROTY")

src/dodal/beamlines/i15.py

@@ -12,8 +12,8 @@
 from dodal.devices.beamlines.i15.jack import JackX, JackY
 from dodal.devices.beamlines.i15.motors import UpstreamDownstreamPair
 from dodal.devices.motors import (
-    SixAxisGonioKappaPhi,
     XYStage,
+    XYZKappaPhiStage,
     XYZPitchYawStage,
     XYZStage,
 )
@@ -73,10 +73,10 @@ def det2z() -> Motor:
 
 
 @devices.factory()
-def diffractometer() -> SixAxisGonioKappaPhi:
-    return SixAxisGonioKappaPhi(
+def diffractometer() -> XYZKappaPhiStage:
+    return XYZKappaPhiStage(
         prefix=f"{PREFIX.beamline_prefix}-MO-DIFF-01:SAMPLE:",
-        phi_infix="KPHI",
+        infix_overrides={"phi": "KPHI"},
     )
 
 

src/dodal/beamlines/i23.py

@@ -8,7 +8,7 @@
 from dodal.common.beamlines.device_helpers import HDF5_SUFFIX
 from dodal.common.visit import LocalDirectoryServiceClient, StaticVisitPathProvider
 from dodal.device_manager import DeviceManager
-from dodal.devices.motors import SixAxisGonio
+from dodal.devices.motors import XYZOmegaKappaPhiStage
 from dodal.devices.oav.pin_image_recognition import PinTipDetection
 from dodal.devices.positioner import Positioner1D
 from dodal.devices.zebra.zebra import Zebra
@@ -73,8 +73,8 @@ def shutter() -> ZebraShutter:
 
 
 @devices.factory()
-def gonio() -> SixAxisGonio:
-    return SixAxisGonio(f"{PREFIX.beamline_prefix}-MO-GONIO-01:")
+def gonio() -> XYZOmegaKappaPhiStage:
+    return XYZOmegaKappaPhiStage(f"{PREFIX.beamline_prefix}-MO-GONIO-01:")
 
 
 @devices.factory()

src/dodal/devices/aithre_lasershaping/goniometer.py

@@ -1,6 +1,12 @@
+from typing import Annotated
+
 from ophyd_async.epics.motor import Motor
 
-from dodal.devices.motors import XYZOmegaStage, create_axis_perp_to_rotation
+from dodal.devices.motors import (
+    DefaultInfix,
+    XYZOmegaStage,
+    create_axis_perp_to_rotation,
+)
 
 
 class Goniometer(XYZOmegaStage):
@@ -15,28 +21,17 @@ class Goniometer(XYZOmegaStage):
     regardless of the current rotation.
     """
 
+    sampy: Annotated[Motor, DefaultInfix("SAMPY")]
+    sampz: Annotated[Motor, DefaultInfix("SAMPZ")]
+
     def __init__(
         self,
         prefix: str,
         name: str = "",
-        x_infix: str = "X",
-        y_infix: str = "Y",
-        z_infix: str = "Z",
-        omega_infix: str = "OMEGA",
-        sampy_infix: str = "SAMPY",
-        sampz_infix: str = "SAMPZ",
+        **motor_infix_overrides,
     ) -> None:
-        super().__init__(
-            prefix=prefix,
-            name=name,
-            x_infix=x_infix,
-            y_infix=y_infix,
-            z_infix=z_infix,
-            omega_infix=omega_infix,
-        )
+        super().__init__(prefix=prefix, name=name, **motor_infix_overrides)
         with self.add_children_as_readables():
-            self.sampy = Motor(prefix + sampy_infix)
-            self.sampz = Motor(prefix + sampz_infix)
             self.vertical_position = create_axis_perp_to_rotation(
                 self.omega, self.sampz, self.sampy
             )

src/dodal/devices/beamlines/b07/b07_motors.py

@@ -1,9 +1,11 @@
+from typing import Annotated
+
 from bluesky.protocols import Movable
 from ophyd_async.core import AsyncStatus, StandardReadable, StandardReadableFormat
 from ophyd_async.epics.core import epics_signal_rw_rbv
 from ophyd_async.epics.motor import Motor
 
-from dodal.devices.motors import _OMEGA, XYZStage
+from dodal.devices.motors import _OMEGA, DefaultInfix, XYZStage
 
 
 class VirtualAxis(StandardReadable, Movable[float]):
@@ -49,52 +51,30 @@ class B07SampleManipulator52B(XYZStage):
         kappa (VirtualAxis): Virtal rotational axis for the z direction.
     """
 
+    roty: Annotated[Motor, DefaultInfix("ROTY")]
+    rotz: Annotated[Motor, DefaultInfix("ROTZ")]
+    xp: Annotated[Motor, DefaultInfix("XP")]
+    yp: Annotated[Motor, DefaultInfix("YP")]
+    zp: Annotated[Motor, DefaultInfix("ZP")]
+
     def __init__(
         self,
         prefix: str,
-        x_infix: str = "XP",
-        y_infix: str = "YP",
-        z_infix: str = "ZP",
-        roty_infix: str = "ROTY",
-        rotz_infix: str = "ROTZ",
         kappa_infix: str = "KAPPA",
         phi_infix: str = "PHI",
         omega_infix: str = _OMEGA,
         name: str = "",
+        **motor_infix_overrides: str,
     ):
-        """Initialise the device via prefix and infix PV configuration.
-
-        Args:
-            prefix (str): Base PV used for connecting signals.
-            x_infix (str, optional): Infix between base prefix and x motor record.
-            y_infix (str, optional): Infix between base prefix and y motor record.
-            z_infix (str, optional): Infix between base prefix and z motor record.
-            roty_infix (str, optional): Infix between base prefix and roty motor record.
-            rotz_infix (str, optional): Infix between base prefix and rotz motor record.
-            kappa_infix (str, optional): Infix between base prefix and kappa virtual axis.
-            phi_infix (str, optional): Infix between base prefix and phi virtual axis.
-            omega_infix (str, optional): Infix between base prefix and omega virtual axis.
-            name (str, optional): The name of this device.
-        """
+        """Initialise the device via prefix and infix PV configuration."""
         with self.add_children_as_readables():
-            # Compound motors
-            self.xp = Motor(prefix + x_infix)
-            self.yp = Motor(prefix + y_infix)
-            self.zp = Motor(prefix + z_infix)
-
-            # Raw motors
-            self.roty = Motor(prefix + roty_infix)
-            self.rotz = Motor(prefix + rotz_infix)
-
             # Not standard motors, virtual axes coordinate system.
             self.kappa = VirtualAxis(prefix + kappa_infix)
             self.phi = VirtualAxis(prefix + phi_infix)
             self.omega = VirtualAxis(prefix + omega_infix)
 
         super().__init__(
             prefix=prefix,
-            x_infix=x_infix,
-            y_infix=y_infix,
-            z_infix=z_infix,
             name=name,
+            **motor_infix_overrides,
         )

src/dodal/devices/beamlines/i11/diff_stages.py

@@ -1,6 +1,8 @@
+from typing import Annotated
+
 from ophyd_async.epics.motor import Motor
 
-from dodal.devices.motors import Stage
+from dodal.devices.motors import DefaultInfix, Stage
 
 
 class DiffractometerStage(Stage):
@@ -9,22 +11,10 @@ class DiffractometerStage(Stage):
     theta, delta, two_theta, sample_position.
     """
 
-    def __init__(
-        self,
-        prefix: str,
-        name: str = "",
-        theta_suffix: str = "THETA",
-        delta_suffix: str = "DELTA",
-        two_theta_suffix: str = "2THETA",
-        sample_pos_suffix: str = "SPOS",
-    ):
-        with self.add_children_as_readables():
-            self.theta = Motor(prefix + theta_suffix)
-            self.delta = Motor(prefix + delta_suffix)
-            self.two_theta = Motor(prefix + two_theta_suffix)
-            self.sample_position = Motor(prefix + sample_pos_suffix)
-
-        super().__init__(name=name)
+    theta: Annotated[Motor, DefaultInfix("THETA")]
+    delta: Annotated[Motor, DefaultInfix("DELTA")]
+    two_theta: Annotated[Motor, DefaultInfix("2THETA")]
+    sample_position: Annotated[Motor, DefaultInfix("SPOS")]
 
 
 class DiffractometerBase(Stage):
@@ -33,21 +23,8 @@ class DiffractometerBase(Stage):
     x1, x2, y1, y2, y3. Used for aligning the detector to the beam/sample.
     """
 
-    def __init__(
-        self,
-        prefix: str,
-        name: str = "",
-        x1_suffix: str = "X1",
-        x2_suffix: str = "X2",
-        y1_suffix: str = "Y1",
-        y2_suffix: str = "Y2",
-        y3_suffix: str = "Y3",
-    ):
-        with self.add_children_as_readables():
-            self.x1 = Motor(prefix + x1_suffix)
-            self.x2 = Motor(prefix + x2_suffix)
-            self.y1 = Motor(prefix + y1_suffix)
-            self.y2 = Motor(prefix + y2_suffix)
-            self.y3 = Motor(prefix + y3_suffix)
-
-        super().__init__(name=name)
+    x1: Annotated[Motor, DefaultInfix("X1")]
+    x2: Annotated[Motor, DefaultInfix("X2")]
+    y1: Annotated[Motor, DefaultInfix("Y1")]
+    y2: Annotated[Motor, DefaultInfix("Y2")]
+    y3: Annotated[Motor, DefaultInfix("Y3")]

src/dodal/devices/beamlines/i15/motors.py

@@ -1,27 +1,16 @@
+from typing import Annotated
+
 from ophyd_async.epics.motor import Motor
 
-from dodal.devices.motors import Stage
+from dodal.devices.motors import DefaultInfix, Stage
 
 
 class UpstreamDownstreamPair(Stage):
-    def __init__(self, prefix: str, name: str = ""):
-        with self.add_children_as_readables():
-            self.upstream = Motor(prefix + "US")
-            self.downstream = Motor(prefix + "DS")
-        super().__init__(name=name)
+    upstream: Annotated[Motor, DefaultInfix("US")]
+    downstream: Annotated[Motor, DefaultInfix("DS")]
 
 
 class NumberedTripleAxisStage(Stage):
-    def __init__(
-        self,
-        prefix: str,
-        name: str = "",
-        axis1_infix: str = "AXIS1",
-        axis2_infix: str = "AXIS2",
-        axis3_infix: str = "AXIS3",
-    ):
-        with self.add_children_as_readables():
-            self.axis1 = Motor(prefix + axis1_infix)
-            self.axis2 = Motor(prefix + axis2_infix)
-            self.axis3 = Motor(prefix + axis3_infix)
-        super().__init__(name=name)
+    axis1: Annotated[Motor, DefaultInfix("AXIS1")]
+    axis2: Annotated[Motor, DefaultInfix("AXIS2")]
+    axis3: Annotated[Motor, DefaultInfix("AXIS3")]