Remove ophyd references from motion devices (#985)

* Change p45 to phyd async

* Use standard readable instead of device

* Instantiate p45 devices correctly

* Add prefix to device pvs

* Convert i03 and i04 devices to ophyd_async

---------

Co-authored-by: Shihab Suliman <[email protected]>

src/dodal/devices/flux.py

@@ -1,7 +1,14 @@
-from ophyd import Component, Device, EpicsSignalRO, Kind
+from ophyd_async.core import (
+    StandardReadable,
+    StandardReadableFormat,
+)
+from ophyd_async.epics.core import epics_signal_r
 
 
-class Flux(Device):
+class Flux(StandardReadable):
     """Simple device to get the flux reading"""
 
-    flux_reading = Component(EpicsSignalRO, "SAMP", kind=Kind.hinted)
+    def __init__(self, prefix: str, name="") -> None:
+        with self.add_children_as_readables(StandardReadableFormat.HINTED_SIGNAL):
+            self.flux_reading = epics_signal_r(float, prefix + "SAMP")
+            super().__init__(name=name)

src/dodal/devices/p45.py

@@ -1,44 +1,55 @@
-from ophyd import Component as Cpt
-from ophyd import EpicsMotor, MotorBundle
-from ophyd.areadetector.base import ADComponent as Cpt
+from ophyd_async.core import StandardReadable
+from ophyd_async.epics.motor import Motor
 
 
-class SampleY(MotorBundle):
+class SampleY(StandardReadable):
     """
     Motors for controlling the sample's y position and stretch in the y axis.
     """
 
-    base = Cpt(EpicsMotor, "CS:Y")
-    stretch = Cpt(EpicsMotor, "CS:Y:STRETCH")
-    top = Cpt(EpicsMotor, "Y:TOP")
-    bottom = Cpt(EpicsMotor, "Y:BOT")
+    def __init__(self, prefix: str, name="") -> None:
+        with self.add_children_as_readables():
+            self.base = Motor(prefix + "CS:Y")
+            self.stretch = Motor(prefix + "CS:Y:STRETCH")
+            self.top = Motor(prefix + "Y:TOP")
+            self.bottom = Motor(prefix + "Y:BOT")
+            super().__init__(name=name)
 
 
-class SampleTheta(MotorBundle):
+class SampleTheta(StandardReadable):
     """
     Motors for controlling the sample's theta position and skew
     """
 
-    base = Cpt(EpicsMotor, "THETA:POS")
-    skew = Cpt(EpicsMotor, "THETA:SKEW")
-    top = Cpt(EpicsMotor, "THETA:TOP")
-    bottom = Cpt(EpicsMotor, "THETA:BOT")
+    def __init__(self, prefix: str, name="") -> None:
+        with self.add_children_as_readables():
+            self.base = Motor(prefix + "THETA:POS")
+            self.skew = Motor(prefix + "THETA:SKEW")
+            self.top = Motor(prefix + "THETA:TOP")
+            self.bottom = Motor(prefix + "THETA:BOT")
+            super().__init__(name=name)
 
 
-class TomoStageWithStretchAndSkew(MotorBundle):
+class TomoStageWithStretchAndSkew(StandardReadable):
     """
     Grouping of motors for the P45 tomography stage
     """
 
-    x = Cpt(EpicsMotor, "X")
-    y = Cpt(SampleY, "")
-    theta = Cpt(SampleTheta, "")
+    def __init__(self, prefix: str, name="") -> None:
+        with self.add_children_as_readables():
+            self.x = Motor(prefix + "X")
+            self.y = SampleY(prefix)
+            self.theta = SampleTheta(prefix)
+            super().__init__(name=name)
 
 
-class Choppers(MotorBundle):
+class Choppers(StandardReadable):
     """
     Grouping for the P45 chopper motors
     """
 
-    x = Cpt(EpicsMotor, "ENDAT")
-    y = Cpt(EpicsMotor, "BISS")
+    def __init__(self, prefix: str, name="") -> None:
+        with self.add_children_as_readables():
+            self.x = Motor(prefix + "ENDAT")
+            self.y = Motor(prefix + "BISS")
+            super().__init__(name=name)

src/dodal/devices/s4_slit_gaps.py

@@ -1,8 +1,12 @@
-from ophyd import Component, Device, EpicsMotor
+from ophyd_async.core import StandardReadable
+from ophyd_async.epics.motor import Motor
 
 
-class S4SlitGaps(Device):
+class S4SlitGaps(StandardReadable):
     """Note that the S4 slits have a different PV fromat to other beamline slits"""
 
-    xgap = Component(EpicsMotor, "XGAP")
-    ygap = Component(EpicsMotor, "YGAP")
+    def __init__(self, prefix: str, name="") -> None:
+        with self.add_children_as_readables():
+            self.xgap = Motor(prefix + "XGAP")
+            self.ygap = Motor(prefix + "YGAP")
+            super().__init__(name=name)