make id gap a UndulatorGapMotor

src/dodal/devices/beamlines/i10/i10_apple2.py

@@ -124,7 +124,7 @@ async def _set_linear_arbitrary_angle(self, pol_angle: float) -> None:
                 f"jaw_phase position for angle ({pol_angle}) is outside permitted range"
                 f" [-{self.jaw_phase_limit}, {self.jaw_phase_limit}]"
             )
-        await self.apple2().jaw_phase().set(jaw_phase)
+        await self.apple2_ref().jaw_phase().set(jaw_phase)
         await self._linear_arbitrary_angle.set(pol_angle)
 
     def _get_apple2_value(self, gap: float, phase: float, pol: Pol) -> Apple2Val:
@@ -144,8 +144,8 @@ async def _set_motors_from_energy_and_polarisation(
     ) -> None:
         await super()._set_motors_from_energy_and_polarisation(energy, pol)
         if pol != Pol.LA:
-            await self.apple2().jaw_phase().set(0)
-            await self.apple2().jaw_phase().set_move.set(1)
+            await self.apple2_ref().jaw_phase().set(0)
+            await self.apple2_ref().jaw_phase().set_move.set(1)
 
     def _raise_if_not_la(self, pol: Pol) -> None:
         if pol != Pol.LA:

src/dodal/devices/insertion_device/__init__.py

@@ -7,24 +7,18 @@
     Apple2Type,
     EnergyMotorConvertor,
 )
-from .apple2_undulator import (
-    DEFAULT_MOTOR_MIN_TIMEOUT,
-    Apple2,
+from .apple2_undulator import Apple2, Apple2Val
+from .apple2_undulator_base import SafeUndulatorMoverBase
+from .apple2_undulator_gap import UndulatorGap
+from .apple2_undulator_phase_axes import (
     Apple2LockedPhasesVal,
     Apple2PhasesVal,
-    Apple2Val,
-    EnabledDisabledUpper,
-    UndulatorGap,
     UndulatorJawPhase,
     UndulatorLockedPhaseAxes,
     UndulatorPhaseAxes,
-    UnstoppableMotor,
 )
-from .apple_knot_controller import (
-    AppleKnotController,
-    AppleKnotPathFinder,
-)
-from .energy import BeamEnergy, InsertionDeviceEnergy, InsertionDeviceEnergyBase
+from .apple_knot_controller import AppleKnotController, AppleKnotPathFinder
+from .energy import BeamEnergy, InsertionDeviceEnergy
 from .energy_motor_lookup import (
     ConfigServerEnergyMotorLookup,
     EnergyMotorLookup,
@@ -50,6 +44,7 @@
     "AppleKnotPathFinder",
     "UndulatorGap",
     "UndulatorPhaseAxes",
+    "SafeUndulatorMoverBase",
     "UndulatorJawPhase",
     "Apple2Val",
     "Apple2PhasesVal",
@@ -63,16 +58,12 @@
     "UndulatorLockedPhaseAxes",
     "EnergyCoverage",
     "Pol",
-    "DEFAULT_MOTOR_MIN_TIMEOUT",
-    "EnabledDisabledUpper",
     "UndulatorGateStatus",
     "Apple2LockedPhasesVal",
     "EnergyMotorLookup",
     "ConfigServerEnergyMotorLookup",
     "EpicsPolynomialEnergyMotorLookup",
     "EnergyMotorConvertor",
-    "UnstoppableMotor",
-    "InsertionDeviceEnergyBase",
     "EnergyCoverageEntry",
     "MAXIMUM_ROW_PHASE_MOTOR_POSITION",
     "MAXIMUM_GAP_MOTOR_POSITION",

src/dodal/devices/insertion_device/apple2_controller.py

@@ -12,10 +12,9 @@
     soft_signal_rw,
 )
 
-from dodal.devices.insertion_device.apple2_undulator import (
-    Apple2,
+from dodal.devices.insertion_device.apple2_undulator import Apple2, Apple2Val
+from dodal.devices.insertion_device.apple2_undulator_phase_axes import (
     Apple2PhasesVal,
-    Apple2Val,
     PhaseAxesType,
     UndulatorPhaseAxes,
 )
@@ -59,7 +58,7 @@ class Apple2Controller(abc.ABC, StandardReadable, Generic[Apple2Type]):
     motor positions via a user-supplied conversion callable.
 
     Attributes:
-        apple2 (Reference[Apple2Type]): Reference to the Apple2 device containing gap
+        apple2_ref (Reference[Apple2Type]): Reference to the Apple2 device containing gap
             and phase motors.
         energy (derived_signal_rw): Derived signal for moving and reading back energy.
         polarisation_setpoint (SignalR): Soft signal for the polarisation setpoint.
@@ -110,7 +109,7 @@ def __init__(
         units: str = "eV",
         name: str = "",
     ) -> None:
-        self.apple2 = Reference(apple2)
+        self.apple2_ref = Reference(apple2)
         self.gap_energy_motor_converter = gap_energy_motor_converter
         self.phase_energy_motor_converter = phase_energy_motor_converter
         self.inverse_gap_energy_motor_converter = inverse_gap_energy_motor_converter
@@ -125,7 +124,7 @@ def __init__(
         self.polarisation_setpoint, self._polarisation_setpoint_set = (
             soft_signal_r_and_setter(Pol)
         )
-        phase = self.apple2().phase()
+        phase = self.apple2_ref().phase_ref()
         # For unlocked phase axes, use top_inner and btm_outer readbacks to calculate
         # derived signal polarisation.
         if isinstance(phase, UndulatorPhaseAxes):
@@ -146,15 +145,15 @@ def __init__(
                 top_inner=top_inner,
                 btm_inner=phase.btm_inner.user_readback,
                 btm_outer=btm_outer,
-                gap=self.apple2().gap().user_readback,
+                gap=self.apple2_ref().gap_ref().user_readback,
             )
         with self.add_children_as_readables(StandardReadableFormat.HINTED_SIGNAL):
             self.energy = derived_signal_rw(
                 raw_to_derived=self._read_energy,
                 set_derived=self._set_energy,
                 energy=self._energy,
                 pol=self.polarisation,
-                gap=self.apple2().gap().user_readback,
+                gap=self.apple2_ref().gap_ref().user_readback,
                 derived_units=units,
             )
 
@@ -175,7 +174,7 @@ async def _set_motors_from_energy_and_polarisation(
         phase = self.phase_energy_motor_converter(value=energy, pol=pol)
         apple2_val = self._get_apple2_value(gap, phase, pol)
         LOGGER.info(f"Setting polarisation to {pol}, with values: {apple2_val}")
-        await self.apple2().set(id_motor_values=apple2_val)
+        await self.apple2_ref().set(id_motor_values=apple2_val)
 
     async def _set_energy(self, energy: float) -> None:
         pol = await self._check_and_get_pol_setpoint()

src/dodal/devices/insertion_device/apple2_motors.py

@@ -0,0 +1,40 @@
+from dataclasses import dataclass
+
+from ophyd_async.core import derived_signal_rw
+from ophyd_async.epics.core import epics_signal_rw
+from ophyd_async.epics.motor import Motor, MotorMoveLogic
+
+from dodal.log import LOGGER
+
+
+class MotorStringSetpoint(Motor):
+    """Create a float interface for an string-valued setpoint PV Motor.
+
+    Undulator motors expose their setpoint PV as a string rather than a numeric
+    value. This helper creates both the underlying string signal and a derived
+    float signal that transparently converts between ``float`` values used by
+    clients and the string representation required by the IOC.
+    """
+
+    def __init__(self, prefix: str, user_setpoint_str_pv: str, name: str = ""):
+        super().__init__(prefix, name)
+        self.user_setpoint_str = epics_signal_rw(str, user_setpoint_str_pv)
+        self.user_setpoint = derived_signal_rw(
+            self._read_user_setpoint,
+            self._set_user_setpoint,
+            setpoint=self.user_setpoint_str,
+        )
+
+    async def _set_user_setpoint(self, value: float) -> None:
+        await self.user_setpoint_str.set(str(value))
+
+    def _read_user_setpoint(self, setpoint: str) -> float:
+        return float(setpoint)
+
+
+@dataclass
+class UnstoppableMotorMoveLogic(MotorMoveLogic):
+    """Motor move logic for motors that cannot be stopped."""
+
+    async def stop(self):
+        LOGGER.warning(f"Stopping {self.readback.name} is not supported.")