Fix dodal for triggerable command

src/dodal/devices/attenuator/attenuator.py

@@ -11,7 +11,11 @@
     SubsetEnum,
     wait_for_value,
 )
-from ophyd_async.epics.core import epics_signal_r, epics_signal_rw, epics_signal_x
+from ophyd_async.epics.core import (
+    epics_signal_r,
+    epics_signal_rw,
+    epics_triggerable_command,
+)
 
 from dodal.devices.attenuator.filter import FilterMotor
 from dodal.log import LOGGER
@@ -65,8 +69,10 @@ def __init__(self, prefix: str, num_filters: int, name: str = ""):
         )
 
         self._desired_transmission = epics_signal_rw(float, prefix + "T2A:SETVAL1")
-        self._use_current_energy = epics_signal_x(prefix + "E2WL:USECURRENTENERGY.PROC")
-        self._change = epics_signal_x(prefix + "FANOUT")
+        self._use_current_energy = epics_triggerable_command(
+            prefix + "E2WL:USECURRENTENERGY.PROC"
+        )
+        self._change = epics_triggerable_command(prefix + "FANOUT.PROC")
 
         super().__init__(prefix, name)
 
@@ -128,7 +134,9 @@ def __init__(
             YesNo, prefix + "AUTOMOVE"
         )
         self._desired_transmission = epics_signal_rw(float, prefix + "T2A:SETVAL1")
-        self._use_current_energy = epics_signal_x(prefix + "E2WL:USECURRENTENERGY.PROC")
+        self._use_current_energy = epics_triggerable_command(
+            prefix + "E2WL:USECURRENTENERGY.PROC"
+        )
 
         with self.add_children_as_readables():
             self._filters: DeviceVector[FilterMotor] = DeviceVector(

src/dodal/devices/beamlines/i11/nx100robot.py

@@ -8,7 +8,11 @@
     StrictEnum,
     set_and_wait_for_value,
 )
-from ophyd_async.epics.core import epics_signal_rw, epics_signal_rw_rbv, epics_signal_x
+from ophyd_async.epics.core import (
+    epics_signal_rw,
+    epics_signal_rw_rbv,
+    epics_triggerable_command,
+)
 
 from dodal.log import LOGGER
 
@@ -45,7 +49,7 @@ class NX100Robot(StandardReadable, Locatable[int], Stoppable, Pausable):
     MIN_NUMBER_OF_SAMPLES = 1
 
     def __init__(self, prefix: str, name: str = ""):
-        self.start = epics_signal_x(prefix + "START")
+        self.start = epics_triggerable_command(prefix + "START.PROC")
         self.hold = epics_signal_rw(bool, prefix + "HOLD")
         self.job = epics_signal_rw(RobotJobs, prefix + "JOB")
         self.servo_on = epics_signal_rw(bool, prefix + "SVON")  # Servo on/off

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

@@ -8,10 +8,10 @@
 from ophyd_async.core import (
     AsyncStatus,
     DeviceMock,
-    SignalX,
     StandardReadable,
     StrictEnum,
-    callback_on_mock_put,
+    TriggerableCommand,
+    callback_on_mock_execute,
     default_mock_class,
     derived_signal_rw,
     set_and_wait_for_value,
@@ -22,7 +22,7 @@
     epics_signal_r,
     epics_signal_rw,
     epics_signal_rw_rbv,
-    epics_signal_x,
+    epics_triggerable_command,
 )
 
 from dodal.log import LOGGER
@@ -66,14 +66,14 @@ async def connect(self, device: "Robot") -> None:
         def set_program(name: str, *_, **__):
             set_mock_value(device.program_name, name)
 
-        callback_on_mock_put(
+        callback_on_mock_execute(
             device.puck_load_program, partial(set_program, ProgramNames.PUCK.value)
         )
-        callback_on_mock_put(
+        callback_on_mock_execute(
             device.beam_load_program, partial(set_program, ProgramNames.BEAM.value)
         )
 
-        callback_on_mock_put(
+        callback_on_mock_execute(
             device._spinner_load_program,  # noqa: SLF001
             partial(set_program, ProgramNames.SPINNER.value),
         )
@@ -88,14 +88,14 @@ async def _program_running():
 
             asyncio.create_task(_program_running())
 
-        callback_on_mock_put(device.puck_pick, program_running)
-        callback_on_mock_put(device.puck_place, program_running)
+        callback_on_mock_execute(device.puck_pick, program_running)
+        callback_on_mock_execute(device.puck_place, program_running)
 
-        callback_on_mock_put(device.beam_place, program_running)
-        callback_on_mock_put(device.beam_pick, program_running)
+        callback_on_mock_execute(device.beam_place, program_running)
+        callback_on_mock_execute(device.beam_pick, program_running)
 
-        callback_on_mock_put(device._spinner_off, program_running)  # noqa: SLF001
-        callback_on_mock_put(device._spinner_on, program_running)  # noqa: SLF001
+        callback_on_mock_execute(device._spinner_off, program_running)  # noqa: SLF001
+        callback_on_mock_execute(device._spinner_on, program_running)  # noqa: SLF001
 
 
 @default_mock_class(MockRobot)
@@ -135,32 +135,44 @@ def __init__(self, robot_prefix: str, current_sample_prefix: str, name: str = ""
         )
 
         self._spinner_rbv = epics_signal_r(SpinnerState, f"{robot_prefix}SPINNER_STATE")
-        self._spinner_off = epics_signal_x(f"{robot_prefix}MOTOR:ACTION0.PROC")
-        self._spinner_on = epics_signal_x(f"{robot_prefix}MOTOR:ACTION1.PROC")
-        self._spinner_load_program = epics_signal_x(f"{robot_prefix}MOTOR:LOAD.PROC")
+        self._spinner_off = epics_triggerable_command(
+            f"{robot_prefix}MOTOR:ACTION0.PROC"
+        )
+        self._spinner_on = epics_triggerable_command(
+            f"{robot_prefix}MOTOR:ACTION1.PROC"
+        )
+        self._spinner_load_program = epics_triggerable_command(
+            f"{robot_prefix}MOTOR:LOAD.PROC"
+        )
 
         self.spinner = derived_signal_rw(
             self._get_spinner_state, self._set_spinner_state, rbv=self._spinner_rbv
         )
 
-        self.puck_pick = epics_signal_x(f"{robot_prefix}PUCK:ACTION0.PROC")
-        self.puck_place = epics_signal_x(f"{robot_prefix}PUCK:ACTION1.PROC")
-        self.puck_load_program = epics_signal_x(f"{robot_prefix}PUCK:LOAD.PROC")
+        self.puck_pick = epics_triggerable_command(f"{robot_prefix}PUCK:ACTION0.PROC")
+        self.puck_place = epics_triggerable_command(f"{robot_prefix}PUCK:ACTION1.PROC")
+        self.puck_load_program = epics_triggerable_command(
+            f"{robot_prefix}PUCK:LOAD.PROC"
+        )
 
-        self.beam_pick = epics_signal_x(f"{robot_prefix}BEAM:ACTION0.PROC")
-        self.beam_place = epics_signal_x(f"{robot_prefix}BEAM:ACTION1.PROC")
-        self.beam_load_program = epics_signal_x(f"{robot_prefix}BEAM:LOAD.PROC")
+        self.beam_pick = epics_triggerable_command(f"{robot_prefix}BEAM:ACTION0.PROC")
+        self.beam_place = epics_triggerable_command(f"{robot_prefix}BEAM:ACTION1.PROC")
+        self.beam_load_program = epics_triggerable_command(
+            f"{robot_prefix}BEAM:LOAD.PROC"
+        )
 
-        self.servo_off = epics_signal_x(f"{robot_prefix}SOFF.PROC")
-        self.servo_on = epics_signal_x(f"{robot_prefix}SON.PROC")
+        self.servo_off = epics_triggerable_command(f"{robot_prefix}SOFF.PROC")
+        self.servo_on = epics_triggerable_command(f"{robot_prefix}SON.PROC")
 
-        self.reset = epics_signal_x(f"{robot_prefix}RESET.PROC")
+        self.reset = epics_triggerable_command(f"{robot_prefix}RESET.PROC")
 
-        self.home = epics_signal_x(f"{robot_prefix}Home.PROC")
+        self.home = epics_triggerable_command(f"{robot_prefix}Home.PROC")
 
         super().__init__(name)
 
-    async def _trigger_program_and_wait_for_complete(self, trigger_signal: SignalX):
+    async def _trigger_program_and_wait_for_complete(
+        self, trigger_signal: TriggerableCommand
+    ):
         await trigger_signal.trigger()
 
         await wait_for_value(
@@ -175,7 +187,7 @@ async def _trigger_program_and_wait_for_complete(self, trigger_signal: SignalX):
         )
 
     async def _load_program_and_wait_for_loaded(
-        self, trigger_signal: SignalX, program_name: ProgramNames
+        self, trigger_signal: TriggerableCommand, program_name: ProgramNames
     ):
         await trigger_signal.trigger()
 

src/dodal/devices/beamlines/i19/beamstop.py

@@ -1,5 +1,5 @@
 from ophyd_async.core import StandardReadable, StrictEnum
-from ophyd_async.epics.core import epics_signal_rw, epics_signal_x
+from ophyd_async.epics.core import epics_signal_rw, epics_triggerable_command
 
 from dodal.devices.motors import XYZStage
 
@@ -15,7 +15,7 @@ class HomeGroup(StrictEnum):
 class HomingControl(StandardReadable):
     def __init__(self, prefix: str, name: str = "") -> None:
         self.homing_group = epics_signal_rw(HomeGroup, f"{prefix}:HMGRP")
-        self.home = epics_signal_x(f"{prefix}:HOME")
+        self.home = epics_triggerable_command(f"{prefix}:HOME")
         super().__init__(name)
 
 

src/dodal/devices/beamlines/i19/mapt_configuration.py

@@ -1,5 +1,9 @@
 from ophyd_async.core import DeviceVector, SignalR, StandardReadable, SubsetEnum
-from ophyd_async.epics.core import epics_signal_r, epics_signal_rw, epics_signal_x
+from ophyd_async.epics.core import (
+    epics_signal_r,
+    epics_signal_rw,
+    epics_triggerable_command,
+)
 
 
 class MAPTConfigurationTable(StandardReadable):
@@ -35,5 +39,5 @@ def __init__(
     ) -> None:
         with self.add_children_as_readables():
             self.select_config = epics_signal_rw(aperture_request, f"{prefix}")
-        self.apply_selection = epics_signal_x(f"{prefix}:APPLY.PROC")
+        self.apply_selection = epics_triggerable_command(f"{prefix}:APPLY.PROC")
         super().__init__(name)

src/dodal/devices/bimorph_mirror.py

@@ -19,7 +19,7 @@
     PvSuffix,
     epics_signal_r,
     epics_signal_w,
-    epics_signal_x,
+    epics_triggerable_command,
 )
 
 from dodal.common.enums import OnOffUpper
@@ -87,7 +87,7 @@ def __init__(self, prefix: str, number_of_channels: int, name=""):
                 }
             )
         self.enabled = epics_signal_w(OnOffUpper, f"{prefix}ONOFF")
-        self.commit_target_voltages = epics_signal_x(f"{prefix}ALLTRGT.PROC")
+        self.commit_target_voltages = epics_triggerable_command(f"{prefix}ALLTRGT.PROC")
         self.status = epics_signal_r(BimorphMirrorStatus, f"{prefix}STATUS")
         self.err = epics_signal_r(str, f"{prefix}ERR")
         super().__init__(name=name)

src/dodal/devices/common_mirror.py

@@ -2,7 +2,7 @@
 
 from bluesky.protocols import Locatable, Location, Stoppable
 from ophyd_async.core import AsyncStatus, StrictEnum
-from ophyd_async.epics.core import epics_signal_rw, epics_signal_x
+from ophyd_async.epics.core import epics_signal_rw, epics_triggerable_command
 
 from dodal.devices.motors import XYZPitchYawRollStage
 
@@ -53,8 +53,12 @@ def __init__(
                 write_pv=prefix + mirror_write_suffix,
             )
 
-        self.mirror_change = epics_signal_x(write_pv=prefix + mirror_change_suffix)
-        self.mirror_abort = epics_signal_x(write_pv=prefix + mirror_abort_suffix)
+        self.mirror_change = epics_triggerable_command(
+            write_pv=prefix + mirror_change_suffix
+        )
+        self.mirror_abort = epics_triggerable_command(
+            write_pv=prefix + mirror_abort_suffix
+        )
 
         super().__init__(prefix=prefix, name=name)
 

src/dodal/devices/cryostream.py

@@ -7,7 +7,7 @@
 from ophyd_async.epics.core import (
     epics_signal_r,
     epics_signal_rw,
-    epics_signal_x,
+    epics_triggerable_command,
 )
 
 
@@ -61,16 +61,16 @@ def __init__(self, prefix: str, name: str = ""):
             self.suct_heat = epics_signal_r(float, f"{prefix}SUCTHEAT")
             self.back_pressure = epics_signal_r(float, f"{prefix}BACKPRESS")
 
-        self.purge = epics_signal_x(f"{prefix}PURGE.PROC")
-        self.hold = epics_signal_x(f"{prefix}HOLD.PROC")
-        self.start = epics_signal_x(f"{prefix}RESTART.PROC")
-        self.pause = epics_signal_x(f"{prefix}PAUSE.PROC")
-        self.resume = epics_signal_x(f"{prefix}RESUME.PROC")
-        self.end = epics_signal_x(f"{prefix}END.PROC")
-        self.stop = epics_signal_x(f"{prefix}STOP.PROC")
-        self.plat = epics_signal_x(f"{prefix}PLAT.PROC")
-        self.cool = epics_signal_x(f"{prefix}COOL.PROC")
-        self.ramp = epics_signal_x(f"{prefix}RAMP.PROC")
+        self.purge = epics_triggerable_command(f"{prefix}PURGE.PROC")
+        self.hold = epics_triggerable_command(f"{prefix}HOLD.PROC")
+        self.start = epics_triggerable_command(f"{prefix}RESTART.PROC")
+        self.pause = epics_triggerable_command(f"{prefix}PAUSE.PROC")
+        self.resume = epics_triggerable_command(f"{prefix}RESUME.PROC")
+        self.end = epics_triggerable_command(f"{prefix}END.PROC")
+        self.stop = epics_triggerable_command(f"{prefix}STOP.PROC")
+        self.plat = epics_triggerable_command(f"{prefix}PLAT.PROC")
+        self.cool = epics_triggerable_command(f"{prefix}COOL.PROC")
+        self.ramp = epics_triggerable_command(f"{prefix}RAMP.PROC")
 
         super().__init__(name)
 

src/dodal/devices/fast_grid_scan.py

@@ -24,7 +24,7 @@
     epics_signal_r,
     epics_signal_rw,
     epics_signal_rw_rbv,
-    epics_signal_x,
+    epics_triggerable_command,
 )
 from pydantic import BaseModel, field_validator
 from pydantic.dataclasses import dataclass
@@ -224,8 +224,8 @@ def __init__(
         # once https://github.com/DiamondLightSource/mx-bluesky/issues/1203 is done
         self.scan_invalid = self._create_scan_invalid_signal(prefix)
 
-        self.run_cmd = epics_signal_x(f"{prefix}RUN.PROC")
-        self.stop_cmd = epics_signal_x(f"{prefix}STOP.PROC")
+        self.run_cmd = epics_triggerable_command(f"{prefix}RUN.PROC")
+        self.stop_cmd = epics_triggerable_command(f"{prefix}STOP.PROC")
         self.status = epics_signal_r(int, f"{prefix}SCAN_STATUS")
 
         self.expected_images = self._create_expected_images_signal()

src/dodal/devices/focusing_mirror.py

@@ -14,7 +14,7 @@
 from ophyd_async.epics.core import (
     epics_signal_r,
     epics_signal_rw,
-    epics_signal_x,
+    epics_triggerable_command,
 )
 from ophyd_async.epics.motor import Motor
 
@@ -219,7 +219,7 @@ class FocusingMirrorWithStripes(FocusingMirror):
     def __init__(self, prefix: str, name: str = "", *args, **kwargs):
         self.stripe = epics_signal_rw(MirrorStripe, prefix + "STRP:DVAL")
         # apply the current set stripe setting
-        self.apply_stripe = epics_signal_x(prefix + "CHANGE.PROC")
+        self.apply_stripe = epics_triggerable_command(prefix + "CHANGE.PROC")
 
         super().__init__(prefix, name, *args, **kwargs)
 

src/dodal/devices/robot.py

@@ -17,7 +17,7 @@
     epics_signal_r,
     epics_signal_rw,
     epics_signal_rw_rbv,
-    epics_signal_x,
+    epics_triggerable_command,
 )
 
 from dodal.log import LOGGER
@@ -131,22 +131,22 @@ def __init__(self, prefix: str, name: str = "") -> None:
         self.sample_id = epics_signal_r(int, prefix + "CURRENT_ID_RBV")
         self.next_sample_id = epics_signal_rw_rbv(int, prefix + "NEXT_ID")
 
-        self.load = epics_signal_x(prefix + "LOAD.PROC")
-        self.unload = epics_signal_x(prefix + "UNLD.PROC")
+        self.load = epics_triggerable_command(prefix + "LOAD.PROC")
+        self.unload = epics_triggerable_command(prefix + "UNLD.PROC")
         self.program_running = epics_signal_r(bool, prefix + "PROGRAM_RUNNING")
         self.program_name = epics_signal_r(str, prefix + "PROGRAM_NAME")
 
         self.prog_error = ErrorStatus(prefix + "PRG")
         self.controller_error = ErrorStatus(prefix + "CNTL")
 
-        self.reset = epics_signal_x(prefix + "RESET.PROC")
-        self.abort = epics_signal_x(prefix + "ABORT.PROC")
-        self.init = epics_signal_x(prefix + "INIT.PROC")
-        self.soak = epics_signal_x(prefix + "SOAK.PROC")
-        self.home = epics_signal_x(prefix + "GOHM.PROC")
-        self.dry = epics_signal_x(prefix + "DRY.PROC")
-        self.open = epics_signal_x(prefix + "COLO.PROC")
-        self.close = epics_signal_x(prefix + "COLC.PROC")
+        self.reset = epics_triggerable_command(prefix + "RESET.PROC")
+        self.abort = epics_triggerable_command(prefix + "ABORT.PROC")
+        self.init = epics_triggerable_command(prefix + "INIT.PROC")
+        self.soak = epics_triggerable_command(prefix + "SOAK.PROC")
+        self.home = epics_triggerable_command(prefix + "GOHM.PROC")
+        self.dry = epics_triggerable_command(prefix + "DRY.PROC")
+        self.open = epics_triggerable_command(prefix + "COLO.PROC")
+        self.close = epics_triggerable_command(prefix + "COLC.PROC")
         self.cryomode_rbv = epics_signal_r(float, prefix + "CRYO_MODE_RBV")
         self.cryomode = epics_signal_rw(str, prefix + "CRYO_MODE_CTRL")
         self.gripper_temp = epics_signal_r(float, prefix + "GRIPPER_TEMP")