correct coord matrix transform; plan stubs for blueapi; print lines t…

…o terminal between addition to list

correction_files/coord_transform

@@ -11,6 +11,8 @@
 #         |-1  0 |   | 0  1 |
 #
 
-0.000000000000000000e+00 -1.000000000000000000e+00
--1.000000000000000000e+00 0.000000000000000000e+00
+# 0.000000000000000000e+00 -1.000000000000000000e+00
+# -1.000000000000000000e+00 0.000000000000000000e+00
 
+0 1
+1 0

src/rtc6_fastcs/controller/rtc_controller.py

@@ -137,6 +137,7 @@ async def proc(self):
             bindings = self._conn.get_bindings()
             x, y = self.correct_xy(self.x.get(), self.y.get())
             bindings.add_jump_to(x, y)
+            print("---")
 
     class AddArc(XYCorrectedConnectedSubController):
         x = AttrRW(Int(), group="ListOps")
@@ -149,6 +150,7 @@ async def proc(self):
             bindings = self._conn.get_bindings()
             x, y = self.correct_xy(self.x.get(), self.y.get())
             bindings.add_arc_to(x, y, self.angle.get())
+            print("---")
 
     class AddLine(XYCorrectedConnectedSubController):
         x = AttrRW(Int(), group="ListOps")
@@ -159,6 +161,7 @@ async def proc(self):
             print("adding line")
             bindings = self._conn.get_bindings()
             bindings.add_line_to(*self.correct_xy(self.x.get(), self.y.get()))
+            print("---")
 
     @command()
     async def init_list(self):

src/rtc6_fastcs/plan_stubs.py

@@ -1,7 +1,10 @@
+from typing import Generator
 import bluesky.plan_stubs as bps
 import bluesky.preprocessors as bpp
 from rtc6_fastcs.device import Rtc6Eth
-
+from blueapi.core import MsgGenerator
+from dodal.common.beamlines.beamline_utils import device_factory
+from bluesky.run_engine import call_in_bluesky_event_loop
 
 def line(rtc6: Rtc6Eth, x: int, y: int):
     """add an instruction to draw a line to x, y"""
@@ -60,9 +63,7 @@ def draw_polygon(rtc6: Rtc6Eth, points: list[JumpOrLineInput]):
 @bpp.run_decorator()
 def draw_polygon_with_arcs(rtc6: Rtc6Eth, points: list[JumpOrLineInput | ArcInput]):
     yield from bps.stage(rtc6)
-    if len(points[0]) != 2:
-        raise ValueError("List of lines/arcs must start with a single point to jump to")
-    yield from jump(rtc6, *points[0])
+    yield from jump(rtc6, *points[0][:-1])
     for point in points[1:]:
         if isinstance(point[2], bool):
             if point[2]:
@@ -77,3 +78,20 @@ def draw_polygon_with_arcs(rtc6: Rtc6Eth, points: list[JumpOrLineInput | ArcInpu
 def go_to_home(rtc6: Rtc6Eth):
     yield from bps.stage(rtc6)
     yield from jump(rtc6, 0,0)
+    yield from bps.trigger(rtc6)
+
+# standard shapes
+
+
+
+# For BlueAPI
+
+@device_factory()
+def create_rtc_device() -> Rtc6Eth:
+    r = Rtc6Eth()
+    call_in_bluesky_event_loop(r.connect())
+    return r
+
+def polygon_with_arcs(points: list[JumpOrLineInput | ArcInput]) -> MsgGenerator:
+    rtc6 = create_rtc_device()
+    yield from draw_polygon_with_arcs(rtc6, points)