Create hard-x-ray undulator for i09 branches

[Villtord]

Fixes DiamondLightSource/sm-bluesky#124

Instructions to reviewer on how to test:

1. Check hard-x-ray undulator class logic is reasonable
2. Confirm tests pass

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}

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 98.88%. Comparing base (264e738) to head (41e1645).

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #1531   +/-   ##
=======================================
  Coverage   98.88%   98.88%           
=======================================
  Files         260      262    +2     
  Lines        9468     9526   +58     
=======================================
+ Hits         9362     9420   +58     
  Misses        106      106           

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[oliwenmandiamond]

Looks really good, thanks for doing this. Just some minor typing improvements

[oliwenmandiamond]

Suggested change

	name: str = "",
	poles: int | None = None,
	length: float | None = None,
	poles: int | None = None,
	length: float | None = None,
	name: str = "",

The name should be last so that we can still provide other arguments otherwise we have to do this

with init_devices():
     hu = HardUndulator(prefix, order, id_gap_lookup_table_path, calculate_gap_function, poles=poles, length=length)

[oliwenmandiamond]

Suggested change

	async def _check_order_valid(self, value: int):
	async def _check_order_valid(self, value: int) -> None:

[oliwenmandiamond]

Suggested change

	async def _check_energy_limits(self, value: float):
	async def _check_energy_limits(self, value: float) -> None:

[oliwenmandiamond]

Suggested change

	async def _update_cached_lookup_table(self):
	async def _update_cached_lookup_table(self) -> None:

[Villtord]

Very sorry, I am moving it to Drafts as we discussed this needs some refactoring in terms of ID definition as we discussed today in our SMG meeting

[Villtord]

Hi @DominicOram and @oliwenmandiamond ,
We had quite some discussions and I hope it is a better design now, sorry that it changed completely.
Short summary:

1. I extract BaseUndulator class that accept gap [mm] value in set method. Undulator class then inherit from BaseUndulator and rewrites its set method to accept energy_kev value instead, calculate gap value internally and then call parent set method with gap value.
2. Order class is now not required for any of undulator classes, however I leave it as it will be used in Energy class which is going to handle all convertion (that class is not in this PR).
3. I still include energy-to-gap conversion function and LUT table unique to I09 hard-x-ray id in this PR as I spent too much time on decoding it (apologies).