1076 fast cs eiger for xrc

[rtuck99]

Refactoring that introduces ability to use arbitrary detector types.

Required for

• FastCS Eiger support for X-ray Centring #1076

Requires:

• 1765 Simplify gridscan parameter hierarchy #1786

Link to dodal PR (if required):

• Split up fastcs eiger plan dodal#1706

Description of changes

This introduces a framework for detector-agnostic gridscans. Rotations are left largely unchanged and are hard-coded to still support classic ophyd v1 EigerDetector.

• BeamlineSpecificDetectorFeatures is introduced as a customisation class akin to BeamlineSpecificFGSFeatures.
  Plans wishing to run diffraction plans will need to supply an instance which provides implementations for (pre)arming the detector, disarming the detector, cleanup, and also information about detector signals that should be read when generating events for callbacks. All detector-specific code is now invoked through this customisation class and the plans are largely detector agnostic.
• BeamlineSpecificFGSFeatures now inherits from this class.
• construct_beamline_specific_features_xxx functions are now largely removed, and no longer passed around. Instead the BeamlineSpecificFGSFeatures is constructed ahead of time, and is passed through the call chain.
• To achieve this, calls to setup_trigger_plan and set_flyscan_params_plan now take GridScanParams parameters so that we can construct the BSFGSF without needing to have performed grid detection.
• The callbacks previously needed to know the names of the detector-specific signals that were sent in the ISPyB, Nexus and Zocalo callbacks. These are now also abstracted, the callbacks expect an implementation of HWReadDuringMapper and ZocaloHWReadEventMapper to be supplied on construction, to populate a device-agnostic payload.
• The detector-specific implementations of the BSDF / BSFGSF functions and the associated event mappers have been relocated to the beamline-specific packages in
  • mx_bluesky.common.device_setup_plans.detector (Classic Eiger, FastCS Eiger)
  • mx_bluesky.common.device_setup_plans.gridscan (Zebra 3D)
  • mx_bluesky.hyperion.device_setup_plans.gridscan (Panda 3D)
  • mx_bluesky.i02_1.device_setup_plans.gridscan (Zebra 2D)
• The timing for the top-up delay calculation is now calculated from the request parameters instead of reading the device

Future improvments

• BSFGSF and BSDF might be better expressed as Protocols but for now they follow the existing pattern
• Some ancillary detector-related functionality such as detector motion, detector shutter operations, and possibly also beam size selection could also be customised in a similar way but for now they are left as-is.

Instructions to reviewer on how to test:

1. Do thing x
2. Confirm thing y happens

Checks for reviewer

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

[codecov]

Codecov Report

❌ Patch coverage is 96.88797% with 15 lines in your changes missing coverage. Please review.
✅ Project coverage is 93.05%. Comparing base (0ef0ae4) to head (a38ad3e).

Additional details and impacted files

@@                 Coverage Diff                  @@
##           1765_box_size_um    #1807      +/-   ##
====================================================
- Coverage             93.07%   93.05%   -0.03%     
====================================================
  Files                   163      170       +7     
  Lines                  8958     9119     +161     
====================================================
+ Hits                   8338     8486     +148     
- Misses                  620      633      +13     

Components	Coverage Δ
i24 SSX	77.16% <ø> (ø)
hyperion	98.69% <97.82%> (-0.08%)	⬇️
other	98.01% <96.30%> (-0.20%)	⬇️

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