Merge pull request #371 from DiamondLightSource/hyperion_818_system_t…

…ests

Add raw set method to aperturescatterguard

src/dodal/devices/aperturescatterguard.py

@@ -1,10 +1,13 @@
+import operator
 from collections import namedtuple
 from dataclasses import dataclass
-from typing import List, Optional
+from functools import reduce
+from typing import List, Optional, Sequence
 
 import numpy as np
 from ophyd import Component as Cpt
 from ophyd import SignalRO
+from ophyd.epics_motor import EpicsMotor
 from ophyd.status import AndStatus, Status, StatusBase
 
 from dodal.devices.aperture import Aperture
@@ -105,6 +108,21 @@ def set(self, pos: SingleAperturePosition) -> StatusBase:
 
         return self._safe_move_within_datacollection_range(pos.location)
 
+    def _get_motor_list(self):
+        return [
+            self.aperture.x,
+            self.aperture.y,
+            self.aperture.z,
+            self.scatterguard.x,
+            self.scatterguard.y,
+        ]
+
+    def _set_raw_unsafe(self, positions: ApertureFiveDimensionalLocation) -> AndStatus:
+        motors: Sequence[EpicsMotor] = self._get_motor_list()
+        return reduce(
+            operator.and_, [motor.set(pos) for motor, pos in zip(motors, positions)]
+        )
+
     def _get_closest_position_to_current(self) -> SingleAperturePosition:
         """
         Returns the closest valid position to current position within {TOLERANCE_STEPS}.
@@ -113,13 +131,7 @@ def _get_closest_position_to_current(self) -> SingleAperturePosition:
         assert isinstance(self.aperture_positions, AperturePositions)
         for aperture in self.aperture_positions.as_list():
             aperture_in_tolerence = []
-            motors = [
-                self.aperture.x,
-                self.aperture.y,
-                self.aperture.z,
-                self.scatterguard.x,
-                self.scatterguard.y,
-            ]
+            motors = self._get_motor_list()
             for motor, test_position in zip(motors, list(aperture.location)):
                 current_position = motor.user_readback.get()
                 tolerance = self.TOLERANCE_STEPS * motor.motor_resolution.get()

tests/devices/unit_tests/test_aperture_scatterguard.py

@@ -102,6 +102,26 @@ def test_aperture_scatterguard_select_bottom_moves_sg_down_then_assembly_up(
     )
 
 
+def test_aperture_unsafe_move(
+    aperture_positions: AperturePositions,
+    aperture_in_medium_pos: ApertureScatterguard,
+):
+    (a, b, c, d, e) = (0.2, 3.4, 5.6, 7.8, 9.0)
+    aperture_scatterguard = aperture_in_medium_pos
+    call_logger = install_logger_for_aperture_and_scatterguard(aperture_scatterguard)
+    aperture_scatterguard._set_raw_unsafe((a, b, c, d, e))  # type: ignore
+
+    call_logger.assert_has_calls(
+        [
+            call._mock_ap_x(a),
+            call._mock_ap_y(b),
+            call._mock_ap_z(c),
+            call._mock_sg_x(d),
+            call._mock_sg_y(e),
+        ]
+    )
+
+
 def test_aperture_scatterguard_select_top_moves_assembly_down_then_sg_up(
     aperture_positions: AperturePositions, aperture_in_medium_pos: ApertureScatterguard
 ):