fix: address v4 scan migration review findings for flomni/lamni/omny

- restore omny_fermat_scan scan_name (was broken by _v4 rename)
- restore missing settling delay after LamNI feedback_disable
- make LamNI drift-correction moves consistently concurrent
- use self.actions.set for flomni rtx/rtz moves
- cap flomni corridor_size (explicit and auto-estimated) at 3um

Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>

csaxs_bec/scans/flomni_fermat_scan.py

@@ -20,6 +20,8 @@ import time
 from typing import Annotated
 
 import numpy as np
+from scipy.spatial import cKDTree
+
 from bec_lib import messages
 from bec_lib.alarm_handler import Alarms
 from bec_lib.endpoints import MessageEndpoints
@@ -62,6 +64,7 @@ class FlomniFermatScan(ScanBase):
     }
 
     MIN_POSITIONS = 20  # Minimum number of positions required for a valid scan
+    MAX_CORRIDOR_SIZE = 3  # Corridor size is capped at this value (in um) for stability
 
     def __init__(
         # fmt: off
@@ -122,6 +125,13 @@ class FlomniFermatScan(ScanBase):
             logger.warning("The zshift is smaller than -100 um. It will be limited to -100 um.")
             self.zshift = -100
 
+        if self.corridor_size is not None and self.corridor_size > self.MAX_CORRIDOR_SIZE:
+            logger.warning(
+                f"The corridor_size is larger than {self.MAX_CORRIDOR_SIZE} um. It will be"
+                f" limited to {self.MAX_CORRIDOR_SIZE} um."
+            )
+            self.corridor_size = self.MAX_CORRIDOR_SIZE
+
         self.update_scan_info(
             exp_time=exp_time,
             frames_per_trigger=frames_per_trigger,
@@ -154,8 +164,12 @@ class FlomniFermatScan(ScanBase):
                 f"The number positions must exceed {self.MIN_POSITIONS}. Currently: {len(positions)}."
             )
 
+        corridor_size = self.corridor_size
+        if corridor_size is None:
+            corridor_size = min(self._estimate_corridor_size(positions), self.MAX_CORRIDOR_SIZE)
+
         self.positions = self.components.optimize_trajectory(
-            positions, optimization_type="corridor", corridor_size=self.corridor_size
+            positions, optimization_type="corridor", corridor_size=corridor_size
         )
         flip_axes = self.reverse_trajectory()
         if flip_axes:
@@ -318,8 +332,8 @@ class FlomniFermatScan(ScanBase):
         if self.flomni_rotation_status:
             self.flomni_rotation_status.wait()
 
-        rtx_status = dev.rtx.set(self.cenx)
-        rtz_status = dev.rtz.set(self.positions[0][2])
+        rtx_status = self.actions.set(dev.rtx, self.cenx, wait=False)
+        rtz_status = self.actions.set(dev.rtz, self.positions[0][2], wait=False)
 
         dev.rtx.controller.laser_tracker_on()
 
@@ -370,6 +384,24 @@ class FlomniFermatScan(ScanBase):
         )
         self.flomni_rotation_status = self.actions.set(self.dev.fsamroy, angle, wait=False)
 
+    @staticmethod
+    def _estimate_corridor_size(positions: np.ndarray, factor: float = 1.5) -> float:
+        """
+        Estimate the corridor size based on the median nearest-neighbor distance
+        of the positions, matching the estimation used by the corridor path
+        optimizer if no corridor_size is provided.
+
+        Args:
+            positions (np.ndarray): Array of positions
+            factor (float): Scaling factor for the median distance
+
+        Returns:
+            float: Estimated corridor size
+        """
+        tree = cKDTree(positions[:, :2])
+        dists, _ = tree.query(positions[:, :2], k=2)  # k=1 is itself
+        return factor * np.median(dists[:, 1])
+
     @staticmethod
     def get_flomni_fermat_spiral_pos(
         m1_start: float,

csaxs_bec/scans/lamni_components.py

@@ -69,6 +69,7 @@ class LamNIComponents(ScanComponents):
 
         # disable the feedback
         self._dev.rtx.controller.feedback_disable()
+        time.sleep(0.05)
 
         rtx_current = self._dev.rtx.readback.get()
         rty_current = self._dev.rty.readback.get()
@@ -109,8 +110,11 @@ class LamNIComponents(ScanComponents):
             logger.info(
                 f"Compensating {[val/1000 for val in self.lamni_to_stage_coordinates(x_drift,y_drift)]}"
             )
-            self._dev.lsamx.set(move_x).wait()
-            self._dev.lsamy.set(move_y).wait()
+            lsamx_set = self._dev.lsamx.set(move_x)
+            lsamy_set = self._dev.lsamy.set(move_y)
+
+            lsamx_set.wait()
+            lsamy_set.wait()
 
         time.sleep(0.01)
         rtx_current = self._dev.rtx.readback.get()

csaxs_bec/scans/omny_fermat_scan.py

@@ -42,7 +42,7 @@ class OmnyFermatScan(ScanBase):
     # Scan name: This is the name of the scan, e.g. "line_scan". This is used for display purposes and to identify the scan type in user interfaces.
     # Choose a descriptive name that does not conflict with existing scan names.
     # It must be a valid Python identifier, that is, it can only contain letters, numbers, and underscores, and must not start with a number.
-    scan_name = "omny_fermat_scan_v4"
+    scan_name = "omny_fermat_scan"
 
     gui_config = {
         "Scan Parameters": [