Refactor and create ophyd-async FGS devices (#422)

* Convert FGS device to ophyd async

* Combine panda and zebra FGS devices and params

* Param positions now a function instead of attribute


---------

Co-authored-by: Dominic Oram <dominic.oram@diamond.ac.uk>

src/dodal/beamlines/i03.py

@@ -14,12 +14,11 @@
 from dodal.devices.detector import DetectorParams
 from dodal.devices.detector.detector_motion import DetectorMotion
 from dodal.devices.eiger import EigerDetector
-from dodal.devices.fast_grid_scan import FastGridScan
+from dodal.devices.fast_grid_scan import PandAFastGridScan, ZebraFastGridScan
 from dodal.devices.flux import Flux
 from dodal.devices.focusing_mirror import FocusingMirrorWithStripes, VFMMirrorVoltages
 from dodal.devices.oav.oav_detector import OAV, OAVConfigParams
 from dodal.devices.oav.pin_image_recognition import PinTipDetection
-from dodal.devices.panda_fast_grid_scan import PandAFastGridScan
 from dodal.devices.qbpm1 import QBPM1
 from dodal.devices.robot import BartRobot
 from dodal.devices.s4_slit_gaps import S4SlitGaps
@@ -200,16 +199,16 @@ def set_params(eiger: EigerDetector):
     )
 
 
-def fast_grid_scan(
+def zebra_fast_grid_scan(
     wait_for_connection: bool = True, fake_with_ophyd_sim: bool = False
-) -> FastGridScan:
-    """Get the i03 fast_grid_scan device, instantiate it if it hasn't already been.
+) -> ZebraFastGridScan:
+    """Get the i03 zebra_fast_grid_scan device, instantiate it if it hasn't already been.
     If this is called when already instantiated in i03, it will return the existing object.
     """
     return device_instantiation(
-        device_factory=FastGridScan,
-        name="fast_grid_scan",
-        prefix="-MO-SGON-01:",
+        device_factory=ZebraFastGridScan,
+        name="zebra_fast_grid_scan",
+        prefix="-MO-SGON-01:FGS:",
         wait=wait_for_connection,
         fake=fake_with_ophyd_sim,
     )
@@ -220,7 +219,7 @@ def panda_fast_grid_scan(
 ) -> PandAFastGridScan:
     """Get the i03 panda_fast_grid_scan device, instantiate it if it hasn't already been.
     If this is called when already instantiated in i03, it will return the existing object.
-    This is used instead of the fast_grid_scan device when using the PandA.
+    This is used instead of the zebra_fast_grid_scan device when using the PandA.
     """
     return device_instantiation(
         device_factory=PandAFastGridScan,

src/dodal/beamlines/i04.py

@@ -8,7 +8,7 @@
 from dodal.devices.detector import DetectorParams
 from dodal.devices.detector.detector_motion import DetectorMotion
 from dodal.devices.eiger import EigerDetector
-from dodal.devices.fast_grid_scan import FastGridScan
+from dodal.devices.fast_grid_scan import ZebraFastGridScan
 from dodal.devices.flux import Flux
 from dodal.devices.i04.transfocator import Transfocator
 from dodal.devices.ipin import IPin
@@ -260,15 +260,15 @@ def set_params(eiger: EigerDetector):
     )
 
 
-def fast_grid_scan(
+def zebra_fast_grid_scan(
     wait_for_connection: bool = True, fake_with_ophyd_sim: bool = False
-) -> FastGridScan:
-    """Get the i04 fast_grid_scan device, instantiate it if it hasn't already been.
+) -> ZebraFastGridScan:
+    """Get the i04 zebra_fast_grid_scan device, instantiate it if it hasn't already been.
     If this is called when already instantiated in i04, it will return the existing object.
     """
     return device_instantiation(
-        device_factory=FastGridScan,
-        name="fast_grid_scan",
+        device_factory=ZebraFastGridScan,
+        name="zebra_fast_grid_scan",
         prefix="-MO-SGON-01:",
         wait=wait_for_connection,
         fake=fake_with_ophyd_sim,