Do not reload sample if its already been loaded

pyproject.toml

@@ -45,7 +45,7 @@ dependencies = [
     "ophyd == 1.9.0",
     "ophyd-async >= 0.3a5",
     "bluesky >= 1.13.0a4",
-    "dls-dodal @ git+https://github.com/DiamondLightSource/dodal.git@5e8b6fc2933a2b2b2e788d432c8408317ac4a5cc",
+    "dls-dodal @ git+https://github.com/DiamondLightSource/dodal.git@638ab7a0c814ed3f61833e8135c28fd6903003f3",
 ]
 
 

src/mx_bluesky/hyperion/experiment_plans/robot_load_then_centre_plan.py

@@ -1,13 +1,15 @@
 from __future__ import annotations
 
 import dataclasses
+from collections.abc import Generator
 from datetime import datetime
 from pathlib import Path
 from typing import cast
 
 import bluesky.plan_stubs as bps
 import bluesky.preprocessors as bpp
 from blueapi.core import BlueskyContext, MsgGenerator
+from bluesky.utils import Msg
 from dodal.devices.aperturescatterguard import ApertureScatterguard, ApertureValue
 from dodal.devices.attenuator import Attenuator
 from dodal.devices.backlight import Backlight
@@ -185,68 +187,90 @@ def raise_exception_if_moved_out_of_cryojet(exception):
         )
 
 
-def robot_load_then_centre_plan(
+def _pin_already_loaded(
+    robot: BartRobot, pin_to_load: int, puck_to_load: int
+) -> Generator[Msg, None, bool]:
+    current_puck = yield from bps.rd(robot.current_puck)
+    current_pin = yield from bps.rd(robot.current_pin)
+    return int(current_puck) == puck_to_load and int(current_pin) == pin_to_load
+
+
+def robot_load_and_snapshots(
     composite: RobotLoadThenCentreComposite,
     params: RobotLoadThenCentre,
+    location: SampleLocation,
 ):
-    yield from prepare_for_robot_load(composite)
-
-    @bpp.run_decorator(
-        md={
-            "subplan_name": CONST.PLAN.ROBOT_LOAD,
-            "metadata": {
-                "visit_path": str(params.visit_directory),
-                "sample_id": params.sample_id,
-                "sample_puck": params.sample_puck,
-                "sample_pin": params.sample_pin,
-            },
-            "activate_callbacks": [
-                "RobotLoadISPyBCallback",
-            ],
-        }
+    robot_load_plan = do_robot_load(
+        composite,
+        location,
+        params.demand_energy_ev,
+        params.thawing_time,
     )
-    def robot_load_and_snapshots():
-        # TODO: get these from one source of truth #1347
-        assert params.sample_puck is not None
-        assert params.sample_pin is not None
-
-        robot_load_plan = do_robot_load(
-            composite,
-            SampleLocation(params.sample_puck, params.sample_pin),
-            params.demand_energy_ev,
-            params.thawing_time,
-        )
 
-        # The lower gonio must be in the correct position for the robot load and we
-        # want to put it back afterwards. Note we don't wait the robot is interlocked
-        # to the lower gonio and the  move is quicker than the robot takes to get to the
-        # load position.
-        yield from bpp.contingency_wrapper(
-            home_and_reset_wrapper(
-                robot_load_plan,
-                composite.lower_gonio,
-                BartRobot.LOAD_TOLERANCE_MM,
-                CONST.HARDWARE.CRYOJET_MARGIN_MM,
-                "lower_gonio",
-                wait_for_all=False,
-            ),
-            except_plan=raise_exception_if_moved_out_of_cryojet,
-        )
+    # The lower gonio must be in the correct position for the robot load and we
+    # want to put it back afterwards. Note we don't wait the robot is interlocked
+    # to the lower gonio and the  move is quicker than the robot takes to get to the
+    # load position.
+    yield from bpp.contingency_wrapper(
+        home_and_reset_wrapper(
+            robot_load_plan,
+            composite.lower_gonio,
+            BartRobot.LOAD_TOLERANCE_MM,
+            CONST.HARDWARE.CRYOJET_MARGIN_MM,
+            "lower_gonio",
+            wait_for_all=False,
+        ),
+        except_plan=raise_exception_if_moved_out_of_cryojet,
+    )
 
-        yield from take_robot_snapshots(
-            composite.oav, composite.webcam, params.snapshot_directory
-        )
+    yield from take_robot_snapshots(
+        composite.oav, composite.webcam, params.snapshot_directory
+    )
 
-        yield from bps.create(name=CONST.DESCRIPTORS.ROBOT_LOAD)
-        yield from bps.read(composite.robot.barcode)
-        yield from bps.read(composite.oav.snapshot)
-        yield from bps.read(composite.webcam)
-        yield from bps.save()
+    yield from bps.create(name=CONST.DESCRIPTORS.ROBOT_LOAD)
+    yield from bps.read(composite.robot.barcode)
+    yield from bps.read(composite.oav.snapshot)
+    yield from bps.read(composite.webcam)
+    yield from bps.save()
 
-        yield from bps.wait("reset-lower_gonio")
+    yield from bps.wait("reset-lower_gonio")
 
-    yield from robot_load_and_snapshots()
 
+def robot_load_then_centre_plan(
+    composite: RobotLoadThenCentreComposite,
+    params: RobotLoadThenCentre,
+):
+    # TODO: get these from one source of truth #254
+    assert params.sample_puck is not None
+    assert params.sample_pin is not None
+
+    if not (
+        yield from _pin_already_loaded(
+            composite.robot, params.sample_pin, params.sample_puck
+        )
+    ):
+        yield from prepare_for_robot_load(composite)
+        yield from bpp.run_wrapper(
+            robot_load_and_snapshots(
+                composite, params, SampleLocation(params.sample_puck, params.sample_pin)
+            ),
+            md={
+                "subplan_name": CONST.PLAN.ROBOT_LOAD,
+                "metadata": {
+                    "visit_path": str(params.visit_directory),
+                    "sample_id": params.sample_id,
+                    "sample_puck": params.sample_puck,
+                    "sample_pin": params.sample_pin,
+                },
+                "activate_callbacks": [
+                    "RobotLoadISPyBCallback",
+                ],
+            },
+        )
+    else:
+        LOGGER.info(
+            f"Pin/puck {params.sample_pin}/{params.sample_puck} already loaded, will not reload."
+        )
     yield from pin_centre_then_xray_centre_plan(
         cast(GridDetectThenXRayCentreComposite, composite),
         params.pin_centre_then_xray_centre_params(),

tests/unit_tests/hyperion/experiment_plans/test_wait_for_robot_load_then_centre.py

@@ -17,6 +17,7 @@
     RobotLoadThenCentreComposite,
     prepare_for_robot_load,
     robot_load_then_centre,
+    robot_load_then_centre_plan,
     take_robot_snapshots,
 )
 from mx_bluesky.hyperion.external_interaction.callbacks.robot_load.ispyb_callback import (
@@ -491,3 +492,35 @@ def test_when_plan_run_then_thawing_turned_on_for_expected_time(
         and msg.obj.name == "thawer-thaw_for_time_s"
         and msg.args[0] == thaw_time,
     )
+
+
+@patch(
+    "mx_bluesky.hyperion.experiment_plans.robot_load_then_centre_plan.pin_centre_then_xray_centre_plan"
+)
+@patch("mx_bluesky.hyperion.experiment_plans.robot_load_then_centre_plan.do_robot_load")
+@patch(
+    "mx_bluesky.hyperion.experiment_plans.robot_load_then_centre_plan.prepare_for_robot_load"
+)
+def test_given_sample_already_loaded_when_plan_run_then_sample_not_loaded(
+    mock_prepare_robot: MagicMock,
+    mock_do_robot_load: MagicMock,
+    mock_centring_plan: MagicMock,
+    robot_load_composite: RobotLoadThenCentreComposite,
+    robot_load_then_centre_params_no_energy: RobotLoadThenCentre,
+    RE: RunEngine,
+):
+    set_mock_value(robot_load_composite.robot.current_pin, 1)
+    set_mock_value(robot_load_composite.robot.current_puck, 2)
+
+    robot_load_then_centre_params_no_energy.sample_pin = 1
+    robot_load_then_centre_params_no_energy.sample_puck = 2
+
+    RE(
+        robot_load_then_centre_plan(
+            robot_load_composite,
+            robot_load_then_centre_params_no_energy,
+        )
+    )
+    mock_prepare_robot.assert_not_called()
+    mock_do_robot_load.assert_not_called()
+    mock_centring_plan.assert_called()