Robot load: Minor fixes from testing

setup.cfg

@@ -47,7 +47,6 @@ install_requires =
     blueapi >= 0.4.3-rc1
     dls-dodal @ git+https://github.com/DiamondLightSource/dodal.git
 
-
 [options.entry_points]
 console_scripts =
     hyperion = hyperion.__main__:main

src/hyperion/device_setup_plans/dcm_pitch_roll_mirror_adjuster.py

@@ -63,7 +63,7 @@ def adjust_mirror_stripe(
         f"Adjusting mirror stripe for {energy_kev}keV selecting {stripe} stripe"
     )
     yield from bps.abs_set(mirror.stripe, stripe, wait=True)
-    yield from bps.abs_set(mirror.apply_stripe, 1)
+    yield from bps.trigger(mirror.apply_stripe)
 
     LOGGER.info("Adjusting mirror voltages...")
     yield from _apply_and_wait_for_voltages_to_settle(stripe, mirror, mirror_voltages)

src/hyperion/experiment_plans/robot_load_then_centre_plan.py

@@ -8,7 +8,7 @@
 import bluesky.plan_stubs as bps
 import bluesky.preprocessors as bpp
 from blueapi.core import BlueskyContext, MsgGenerator
-from dodal.devices.aperturescatterguard import AperturePositions, ApertureScatterguard
+from dodal.devices.aperturescatterguard import ApertureScatterguard
 from dodal.devices.attenuator import Attenuator
 from dodal.devices.backlight import Backlight
 from dodal.devices.dcm import DCM
@@ -124,9 +124,10 @@ def take_robot_snapshots(oav: OAV, webcam: Webcam, directory: Path):
 
 
 def prepare_for_robot_load(composite: RobotLoadThenCentreComposite):
+    assert composite.aperture_scatterguard.aperture_positions
     yield from bps.abs_set(
         composite.aperture_scatterguard,
-        AperturePositions.ROBOT_LOAD,
+        composite.aperture_scatterguard.aperture_positions.ROBOT_LOAD,
         group="prepare_robot_load",
     )
 

tests/unit_tests/device_setup_plans/test_dcm_pitch_roll_mirror_adjuster.py

@@ -140,15 +140,15 @@ def test_adjust_mirror_stripe(
         new_callable=_all_demands_accepted(vfm_mirror_voltages),
     ):
         vfm.stripe.set = MagicMock(return_value=NullStatus())
-        vfm.apply_stripe.set = MagicMock()  # type: ignore
+        vfm.apply_stripe.trigger = MagicMock()  # type: ignore
         parent = MagicMock()
         parent.attach_mock(vfm.stripe.set, "stripe_set")
-        parent.attach_mock(vfm.apply_stripe.set, "apply_stripe")  # type: ignore
+        parent.attach_mock(vfm.apply_stripe.trigger, "apply_stripe")  # type: ignore
 
         RE(adjust_mirror_stripe(energy_kev, vfm, vfm_mirror_voltages))
 
         assert parent.method_calls[0] == ("stripe_set", (expected_stripe,))
-        assert parent.method_calls[1] == ("apply_stripe", (1,))
+        assert parent.method_calls[1][0] == "apply_stripe"
         vfm_mirror_voltages.voltage_channels[0].set.assert_called_once_with(  # type: ignore
             first_voltage
         )
@@ -208,9 +208,7 @@ def test_adjust_dcm_pitch_roll_vfm_from_lut(
     )
     messages = sim_run_engine.assert_message_and_return_remaining(
         messages[1:],
-        lambda msg: msg.command == "set"
-        and msg.obj.name == "vfm-apply_stripe"
-        and msg.args == (1,),
+        lambda msg: msg.command == "trigger" and msg.obj.name == "vfm-apply_stripe",
     )
     for channel, expected_voltage in (
         (14, 124),