Add initial i15-1 robot device

[Mark-Booth]

Note that this initial implementation does only the first half of a full load operation, picking the requested pin from the puck and leaving it in the staging position

Progresses #1863

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 scientist on a set of release notes
• If a new device has been added does it follow the standards
• If changing the API for a pre-existing device, ensure that any beamlines using this device have updated their Bluesky plans accordingly
• Have the connection tests for the relevant beamline(s) been run via dodal connect ${BEAMLINE}

[tpoliaw]

Also, replace @device_factory() with @devices.factory() in i15_1.py

This feels like it could be its own PR

[DominicOram]

This feels like it could be its own PR

Ideally, yes, but I'm not too bothered about having it here. It's a small change and i15-1 isn't using any of this in prod yet anyway. But yh, for future reference @Mark-Booth, I think a new PR would have been cleaner.

This looks like a good start, thank you! A few initial comments in the code on the direction to go next but I think think this is good enough to give a first go on the beamline.

[DominicOram]

Could: We could do this at the same time as setting the puck/pos but I doubt it's probably not going to be much faster

[Mark-Booth]

I think we've seen the puck_sel and and pos_sel change during a program load, so that might introduce a race condition here.

I think it's worth sticking to the current "wait for program loaded" logic for now.

[DominicOram]

Should: I think we probably need a comment somewhere saying that this loads the program, rather than actually does a robot "load" as it could at first glance look confusing we're loading before we set positions

[Mark-Booth]

Rather than adding a comment, I've renamed puck_load to puck_load_program instead.

[Mark-Booth]

Also, replace @device_factory() with @devices.factory() in i15_1.py

This feels like it could be its own PR

Yeah, we've been discussing preferences on handling 'scout camp rule' changes (leave the camp ground tidier than you found it) and I'll go separate PR in the future.

[oliwenmandiamond]

dodal.devices.i15.robot.py will need to be changed to dodal.devices.beamlines.i15.py

#1866

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 99.04%. Comparing base (daee0a7) to head (dff0626).
⚠️ Report is 1 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #1879   +/-   ##
=======================================
  Coverage   99.03%   99.04%           
=======================================
  Files         305      306    +1     
  Lines       11522    11590   +68     
=======================================
+ Hits        11411    11479   +68     
  Misses        111      111           

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[DominicOram]

Great, thanks! Tested on the beamline and works as expected