Add pumps as ophyd-async devices and pump bluesky plans

[Thomas Hopkins (thopkins32)]

Assisted-by: oh-my-pi:gpt-6-sol

Summary

Ports over the pump device implementations from https://github.com/NSLS2/xpd-profile-collection in order to use ophyd-async and proper bluesky plans for controlling them.

[Copilot]

🟡 Changes recommended

Status-timeout handling, delayed shutdown, and nonfinite equilibrium waits leave unresolved operational risks.

3 open findings

• Propagate exceptions from pump command futures · New
• Reject nonfinite tubing diameters · New
• Dispatch STOP to all pumps before awaiting confirmation · New

What changed in this PR

Adds ophyd-async syringe-pump devices and Bluesky plans for configuration, operation, and cleanup.

Changes:

• Introduces DDS and Ultra devices with syringe validation and unit conversion.
• Adds pump-control plans and offline tests.
• Updates the locked ophyd-async revision.

File	Description
uv.lock	Updates ophyd-async revision.
tests/​test_pumps.py	Tests device readings and syringe validation.
tests/​test_pump_plans.py	Tests control plans and cleanup behavior.
src/​xpd_tools/​pumps.py	Defines pump devices and configuration limits.
src/​xpd_tools/​pump_plans.py	Adds configuration, operation, and cleanup plans.
pyproject.toml	Normalizes dependency extras formatting.

🧠 Review effort: Balanced

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[Copilot]

🟡 Changes recommended

Stop-confirmation failures can be discarded, allowing cleanup to report success without confirming that flow stopped.

3 open findings

• Propagate stop-status timeout during pump cleanup · New
• Propagate exceptions from pump command futures
• Dispatch STOP to all pumps before awaiting confirmation

1 resolved since last review

• Reject nonfinite tubing diameters

🧠 Review effort: Balanced

[Copilot]

🔵 Needs a closer look

Unresolved startup-status failures can allow acquisition to proceed without confirmed pump flow.

2 open findings

• Propagate exceptions from pump command futures
• Dispatch STOP to all pumps before awaiting confirmation

1 resolved since last review

• Propagate stop-status timeout during pump cleanup

🧠 Review effort: Balanced

[Copilot]

🔵 Needs a closer look

Sequential stop-confirmation waits can delay stopping the remaining pumps during cleanup.

0 open findings

2 resolved since last review

• Propagate exceptions from pump command futures
• Dispatch STOP to all pumps before awaiting confirmation

Previously missed (1)

In code that hasn't changed since last review

Add nonzero equilibrium test coverage with mixed flows

tests/​test_pump_plans.py:246

The only successful equilibrium test uses zero tubing length, so it cannot detect incorrect residence-time arithmetic, combined pump flow, or ratio scaling. Add a nonzero case with known geometry, mixed-unit flows, and a non-unit ratio. Assert both the returned duration and the requested sleep, replacing the sleep with a no-op so the test does not wait.

🧠 Review effort: Balanced

[Copilot]

🟡 Changes recommended

The equilibrium test’s expected-time calculation is incorrect and needs validation across multiple flow rates.

1 open finding

• Compute residence time by dividing tubing volume by flow · New

🧠 Review effort: Balanced

[Copilot]

🔵 Needs a closer look

Sequential shutdown confirmation can delay STOP commands to other pumps during cleanup.

1 open finding

• Compute residence time by dividing tubing volume by flow

🧠 Review effort: Balanced

[Copilot]

🔵 Needs a closer look

Shutdown sequencing needs correction, and hardware mappings and cleanup safety require human validation beyond mock tests.

1 open finding

• Dispatch STOP to all pumps before awaiting individual completion · New

1 resolved since last review

• Compute residence time by dividing tubing volume by flow

🧠 Review effort: Balanced

[Tj Barrett (Tj-Barrett)]

More explicit handling of pump tasks for STOP, infusing, and withdrawing and subsequent tests

[Copilot]

🔵 Needs a closer look

Hardware-control cleanup needs stronger failure-path coverage and human validation beyond the mock tests.

0 open findings

1 resolved since last review

• Dispatch STOP to all pumps before awaiting individual completion

Previously missed (1)

In code that hasn't changed since last review

Ensure test verifies STOP command is sent to the second pump

tests/​test_pump_plans.py:230

second is already Idle after the preceding session cleanup, so this assertion passes even if its STOP command is never sent. Set it to Infusing before calling stop_pumps so the test verifies that a failed first STOP does not leave another pump running.

🧠 Review effort: Balanced