make rtc triggerable; add some logging

pyproject.toml

@@ -22,6 +22,7 @@ requires-python = ">=3.11"
 
 [project.optional-dependencies]
 dev = [
+    "ipython",
     "bluesky",
     "ophyd-async",
     "copier",

src/rtc6_fastcs/controller/rtc_controller.py

@@ -142,9 +142,11 @@ def __init__(
 
     def correct_xy(self, x: int, y: int) -> tuple[int, int]:
         """Correct for transformations in the laser / oav optics"""
-        LOGGER.info(f"Correcting {(x,y)} by {self.coordinate_correction_matrix}")
+        print(f"Correcting {(x,y)} by {self.coordinate_correction_matrix}")
         corrected = np.matmul(self.coordinate_correction_matrix, [x, y])
-        return (int(corrected[0]), int(corrected[1]))
+        as_ints =  (int(corrected[0]), int(corrected[1]))
+        print(f"Result: {corrected} => {as_ints}")
+        return as_ints
 
 
 class RtcListOperations(XYCorrectedConnectedSubController):
@@ -178,8 +180,10 @@ class AddLine(XYCorrectedConnectedSubController):
         @command()
         async def proc(self):
             bindings = self._conn.get_bindings()
-            x, y = self.correct_xy(self.x.get(), self.y.get())
-            bindings.add_line_to(x, y)
+            print(f"Current addline x: {self.x.get()}")
+            print(f"Current addline y: {self.y.get()}")
+            # x, y = self.correct_xy(self.x.get(), self.y.get())
+            bindings.add_line_to(self.x.get(), self.y.get())
 
     @command()
     async def init_list(self):

src/rtc6_fastcs/device.py

@@ -1,5 +1,5 @@
 from ophyd_async.core import StandardReadable, AsyncStageable
-from bluesky.protocols import Flyable
+from bluesky.protocols import Triggerable
 from ophyd_async.epics.core import (
     epics_signal_rw,
     epics_signal_r,
@@ -74,7 +74,7 @@ def __init__(self, prefix: str = "LIST:", name: str = "") -> None:
             self.execute_list = epics_signal_x(prefix + "ExecuteList")
 
 
-class Rtc6Eth(StandardReadable, AsyncStageable, Flyable):
+class Rtc6Eth(StandardReadable, AsyncStageable, Triggerable):
     def __init__(self, prefix: str = "RTC6ETH:", name: str = "") -> None:
         super().__init__(name)
         with self.add_children_as_readables():
@@ -90,7 +90,7 @@ async def stage(self):
         await self.list.init_list.trigger()
 
     @AsyncStatus.wrap
-    async def kickoff(self):
+    async def trigger(self):
         """Set the end of the list at the current position and set it to execute"""
         await self.list.end_list.trigger()
         await self.list.execute_list.trigger()
@@ -99,6 +99,7 @@ async def kickoff(self):
     async def complete(self):
         """Wait for the current list execution to complete"""
         # Todo add a signal for this with get_status
+        # and change trigger to kickoff
 
     @AsyncStatus.wrap
     async def unstage(self): ...

src/rtc6_fastcs/plan_stubs.py

@@ -38,8 +38,7 @@ def rectangle(rtc6: Rtc6Eth, x: int, y: int, origin: tuple[int, int] = (0, 0)):
 def draw_square(rtc6: Rtc6Eth, size: int):
     yield from bps.stage(rtc6)
     yield from rectangle(rtc6, size, size)
-    yield from bps.kickoff(rtc6)
-    yield from bps.collect(rtc6)
+    yield from bps.trigger(rtc6)
 
 
 LineInput = tuple[int, int]
@@ -52,8 +51,8 @@ def draw_polygon(rtc6: Rtc6Eth, points: list[LineInput]):
     yield from jump(rtc6, *points[0])
     for point in points[1:]:
         yield from line(rtc6, *point)
-    yield from bps.kickoff(rtc6)
-    yield from bps.collect(rtc6)
+    yield from bps.trigger(rtc6)
+
 
 
 @bpp.run_decorator
@@ -67,5 +66,5 @@ def draw_polygon_with_arcs(rtc6: Rtc6Eth, points: list[LineInput | ArcInput]):
             yield from line(rtc6, *point)
         else:
             yield from arc(rtc6, *point)
-    yield from bps.kickoff(rtc6)
-    yield from bps.collect(rtc6)
+    yield from bps.trigger(rtc6)
+