Fixes after waffle testing

src/dodal/devices/beamlines/i15_1/attenuator.py

@@ -17,24 +17,12 @@ class AttenuatorPositions(StrictEnum):
     TRANS_0_01 = "0.01%"
     TRANS_0_001 = "0.001%"
 
-    @classmethod
-    def from_float(cls, value):
-        string_representation = f"{value}%"
-        try:
-            return AttenuatorPositions(string_representation)
-        except ValueError as e:
-            raise ValueError(
-                f"{string_representation} is not a valid transmission. Options are {', '.join([a.value for a in AttenuatorPositions])}"
-            ) from e
-
-
-class Attenuator(StandardReadable, Movable[float | AttenuatorPositions]):
+
+class Attenuator(StandardReadable, Movable[AttenuatorPositions]):
     """A device to change the attenuation of the beam.
 
     This can be done by doing:
 
-    >>> bps.mv(attenuator, 10)
-    or
     >>> bps.mv(attenuator, AttenuatorPositions.TRANS_10)
 
     Where 10 is the transmission in percent.
@@ -51,11 +39,9 @@ def __init__(self, prefix: str, name: str = "") -> None:
         super().__init__(name)
 
     @AsyncStatus.wrap
-    async def set(self, value: float | AttenuatorPositions):
+    async def set(self, value: AttenuatorPositions):
         """Change the transmission to the specified percentage.
 
         Will raise ValueError if the percentage is not possible.
         """
-        if isinstance(value, float) or isinstance(value, int):
-            value = AttenuatorPositions.from_float(value)
         await self.transmission.set(value)

src/dodal/devices/beamlines/i15_1/robot.py

@@ -1,7 +1,7 @@
 import asyncio
 from collections.abc import Sequence
 from dataclasses import dataclass
-from enum import StrEnum
+from enum import IntEnum, StrEnum
 from functools import partial
 
 from bluesky.protocols import Movable
@@ -27,9 +27,23 @@
 
 @dataclass
 class SampleLocation:
+    MAX_PUCK = 20
+    MAX_POSITION = 22
+
     puck: int
     position: int
 
+    def __post_init__(self):
+        if not (1 <= self.puck <= self.MAX_PUCK or self.puck == -1):
+            raise ValueError(
+                f"Puck must be between 1 and {self.MAX_PUCK}, got {self.puck}"
+            )
+
+        if not (1 <= self.position <= self.MAX_POSITION or self.position == -1):
+            raise ValueError(
+                f"position must be between 1 and {self.MAX_POSITION}, got {self.position}"
+            )
+
 
 SAMPLE_LOCATION_EMPTY = SampleLocation(-1, -1)
 
@@ -40,6 +54,11 @@ class ProgramNames(StrEnum):
     SPINNER = "MOTOR.MB6"
 
 
+class ErrorCodes(IntEnum):
+    NO_SAMPLE = 9030
+    OK = 0
+
+
 class ProgramRunning(StrictEnum):
     NO_PROGRAM_RUNNING = "No Program Running"
     PROGRAM_RUNNING = "Program Running"
@@ -182,6 +201,14 @@ async def _load(self, location: SampleLocation):
 
         await self._trigger_program_and_wait_for_complete(self.puck_pick)
 
+        if (
+            int(await self.controller_err_code.get_value())
+            == ErrorCodes.NO_SAMPLE.value
+        ):
+            raise ValueError(
+                f"Robot load failed, no sample found at puck {location.puck}, position {location.position}"
+            )
+
         await self._load_program_and_wait_for_loaded(
             self.beam_load_program, ProgramNames.BEAM
         )

tests/devices/beamlines/i15_1/test_attenuator.py

@@ -5,29 +5,6 @@
 from dodal.devices.beamlines.i15_1.attenuator import Attenuator, AttenuatorPositions
 
 
-@pytest.mark.parametrize(
-    "number, enum",
-    [
-        [100, AttenuatorPositions.TRANS_100],
-        [10, AttenuatorPositions.TRANS_10],
-        [1, AttenuatorPositions.TRANS_1],
-        [0.1, AttenuatorPositions.TRANS_0_1],
-        [0.01, AttenuatorPositions.TRANS_0_01],
-        [0.001, AttenuatorPositions.TRANS_0_001],
-    ],
-)
-def test_given_valid_position_can_convert_into_enum(
-    number: int | float, enum: AttenuatorPositions
-):
-    assert AttenuatorPositions.from_float(number) == enum
-
-
-def test_given_invalid_position_then_sensible_error_on_converting_into_enum():
-    with pytest.raises(ValueError) as e:
-        AttenuatorPositions.from_float(2)
-    assert "100%, 50%," in e.value.args[0]
-
-
 @pytest.fixture
 async def attenuator():
     with init_devices(mock=True):
@@ -44,33 +21,6 @@ async def test_given_an_attenuator_device_setting_a_valid_position_enum_sets_thi
     )
 
 
-@pytest.mark.parametrize(
-    "number, enum",
-    [
-        [100, AttenuatorPositions.TRANS_100],
-        [10, AttenuatorPositions.TRANS_10],
-        [1, AttenuatorPositions.TRANS_1],
-        [0.1, AttenuatorPositions.TRANS_0_1],
-        [0.01, AttenuatorPositions.TRANS_0_01],
-        [0.001, AttenuatorPositions.TRANS_0_001],
-    ],
-)
-async def test_given_an_attenuator_device_setting_a_valid_float_sets_this_to_the_device(
-    attenuator, number, enum
-):
-    await attenuator.set(number)
-    get_mock_put(attenuator.transmission).assert_called_once_with(enum)
-
-
-async def test_given_an_attenuator_device_setting_an_invalid_float_raises_and_doesnt_set_device(
-    attenuator,
-):
-    with pytest.raises(ValueError) as e:
-        await attenuator.set(2)
-    assert "100%, 50%," in e.value.args[0]
-    get_mock_put(attenuator.transmission).assert_not_called()
-
-
 async def test_given_attenuator_device_in_position_then_can_read(attenuator):
     set_mock_value(attenuator.transmission, "100%")
     await assert_reading(

tests/devices/beamlines/i15_1/test_robot.py

@@ -237,3 +237,28 @@ async def test_after_robot_unload_new_0_0_is_put_in_index_pvs(robot: Robot):
 
     assert await robot.current_sample.puck.get_value() == 0
     assert await robot.current_sample.position.get_value() == 0
+
+
+async def test_given_no_pin_in_location_when_loaded_then_sensible_error(
+    robot: Robot,
+) -> None:
+    set_mock_value(robot.current_sample.puck, 0)
+    set_mock_value(robot.current_sample.position, 0)
+    set_mock_value(robot.controller_err_code, 9030.0)
+
+    set_location = SampleLocation(puck=1, position=2)
+    with pytest.raises(ValueError) as e:
+        await robot.set(set_location)
+
+    assert "no sample found at puck 1, position 2" in str(e.value)
+
+    assert await robot.current_sample.puck.get_value() != 1
+    assert await robot.current_sample.position.get_value() != 2
+
+
+@pytest.mark.parametrize("puck, position", [(90, 2), (10, 24), (-9, 8)])
+async def test_when_puck_or_position_out_of_bounds_then_error_raised(
+    puck: int, position: int
+) -> None:
+    with pytest.raises(ValueError):
+        SampleLocation(puck, position)