Support for mod-360 omega

[rtuck99]

Fixes

• Robot unload at 360 intervals instead of reset to 0 omega spin on unload #1598

Requires

• Support for mod-360 omega dodal#1929

Implements robot load at mod-360 values of omega and subsequent operations using the phase-angle of the omega axis rather than absolute values.

(remember to update pyproject.toml with the dodal commit tag if you need it for tests to pass!)

Instructions to reviewer on how to test:

1. Robot loads can occur at 0, 360 or other multiples of 360 degrees
2. All subsequent omega moves to specific phase angles are made using shortest-path rotations.
3. Snapshot filenames, omega start and end angles in ISPyB and nexus files are unchanged and report values which report reduced, sign-corrected angles (i.e. respect the omega flip so 0-360 becomes 360-0)
4. XRC resolves correct centres.
5. Probably best to test with multipin in order to test generated snapshots and alternating rotations

Checks for reviewer

• Would the PR title make sense to a user on a set of release notes

[DominicOram]

Thanks, some comments

[DominicOram]

Should: Why can't we just read gonio-omega_axis-phase here?

[DominicOram]

Should: The reference angle is presumably needed because the zebra is still in the old co-ordinate system? Did you think about setting the position on the zebra so that it is in the new co-ordinate system, see attached:

I think this will get us more on the way to the underlying motor behaviour being invisible at the plan level.

[rtuck99]

We could do this, however I don't think we should be making plans agnostic to phase vs absolute angle because they are distinct concepts with different properties. If we made this change, and then subsequently decided to change omega to be wrapped, we would still have to read the unwrapped omega from somewhere and apply it to POS4_SET PV so I don't think it really gains us anything.

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 92.88%. Comparing base (62c0c9a) to head (164d253).

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1640      +/-   ##
==========================================
+ Coverage   92.87%   92.88%   +0.01%     
==========================================
  Files         155      155              
  Lines        8494     8506      +12     
==========================================
+ Hits         7889     7901      +12     
  Misses        605      605              

Components	Coverage Δ
i24 SSX	77.35% <ø> (ø)
hyperion	98.59% <100.00%> (+<0.01%)	⬆️
other	98.31% <100.00%> (+<0.01%)	⬆️

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