Use in-built ophyd-async code for checking smargon limits

src/mx_bluesky/hyperion/device_setup_plans/smargon.py

@@ -1,6 +1,8 @@
 import numpy as np
 from bluesky import plan_stubs as bps
+from bluesky.utils import FailedStatus
 from dodal.devices.smargon import CombinedMove, Smargon
+from ophyd_async.epics.motor import MotorLimitsException
 
 from mx_bluesky.common.utils.exceptions import SampleException
 
@@ -9,12 +11,15 @@ def move_smargon_warn_on_out_of_range(
     smargon: Smargon, position: np.ndarray | list[float] | tuple[float, float, float]
 ):
     """Throws a SampleException if the specified position is out of range for the
-    smargon. Otherwise moves to that position."""
-    limits = yield from smargon.get_xyz_limits()
-    if not limits.position_valid(position):
-        raise SampleException(
-            "Pin tip centring failed - pin too long/short/bent and out of range"
+    smargon. Otherwise moves to that position. The check is from ophyd-async"""
+    try:
+        yield from bps.mv(
+            smargon, CombinedMove(x=position[0], y=position[1], z=position[2])
         )
-    yield from bps.mv(
-        smargon, CombinedMove(x=position[0], y=position[1], z=position[2])
-    )
+    except FailedStatus as fs:
+        if isinstance(fs.__cause__, MotorLimitsException):
+            raise SampleException(
+                "Pin tip centring failed - pin too long/short/bent and out of range"
+            ) from fs.__cause__
+        else:
+            raise fs

tests/unit_tests/hyperion/experiment_plans/test_pin_tip_centring.py

@@ -6,13 +6,15 @@
 from bluesky import plan_stubs as bps
 from bluesky.plan_stubs import null
 from bluesky.run_engine import RunEngine, RunEngineResult
+from bluesky.utils import FailedStatus
 from dodal.devices.backlight import Backlight
 from dodal.devices.oav.oav_detector import OAV
 from dodal.devices.oav.pin_image_recognition import PinTipDetection
 from dodal.devices.oav.pin_image_recognition.utils import SampleLocation
 from dodal.devices.oav.utils import PinNotFoundException
 from dodal.devices.smargon import Smargon
 from ophyd.sim import NullStatus
+from ophyd_async.epics.motor import MotorLimitsException
 from ophyd_async.testing import get_mock_put, set_mock_value
 
 from mx_bluesky.common.utils.exceptions import SampleException, WarningException
@@ -286,6 +288,32 @@ def test_given_moving_out_of_range_when_move_with_warn_called_then_warning_excep
         RE(move_smargon_warn_on_out_of_range(smargon, (100, 0, 0)))
 
 
+@patch(
+    "mx_bluesky.hyperion.device_setup_plans.smargon.bps.mv",
+    new=MagicMock(side_effect=FailedStatus(RuntimeError("RuntimeError"))),
+)
+def test_re_raise_failed_status_that_is_not_MotorLimitsException(
+    RE: RunEngine, smargon: Smargon
+):
+    with pytest.raises(FailedStatus) as fs:
+        RE(move_smargon_warn_on_out_of_range(smargon, (0, 0, 0)))
+
+    assert fs.type is FailedStatus
+    assert not isinstance(fs.value.args[0], MotorLimitsException)
+    assert isinstance(fs.value.args[0], RuntimeError)
+
+
+@patch(
+    "mx_bluesky.hyperion.device_setup_plans.smargon.bps.mv",
+    new=MagicMock(side_effect=RuntimeError("RuntimeError")),
+)
+def test_does_not_catch_exception_that_is_not_MotorLimitsException(
+    RE: RunEngine, smargon: Smargon
+):
+    with pytest.raises(RuntimeError, match="RuntimeError"):
+        RE(move_smargon_warn_on_out_of_range(smargon, (0, 0, 0)))
+
+
 def return_pixel(pixel, *args):
     yield from null()
     return pixel