Implement EPICS-backed Polynomial ID Device for I06

[Relm-Arrowny]

Fixes #2003

• Introduced I06EpicsPolynomialDevice to construct EnergyMotorLookup tables dynamically from EPICS PVs.
• Added an optional inverse EnergyMotorConverter to Apple2Controller for bidirectional gap/energy calculations.
• Renamed EnergyMotorConverter parameters from energy to value to better support generic bidirectional conversions (e.g., Motor ↔ Energy).

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}

[oliwenmandiamond]

This looks good. Just think the variable name needs to be changed + need to add the config

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 99.12%. Comparing base (d4c4ae9) to head (a58f709).

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #2016   +/-   ##
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  Coverage   99.11%   99.12%           
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  Files         328      330    +2     
  Lines       12774    12873   +99     
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+ Hits        12661    12760   +99     
  Misses        113      113           

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[oliwenmandiamond]

Thanks, is a good first start but I think the design needs a bit more work. Please see my comments

[oliwenmandiamond]

This shares the same return as Apple2EnforceLHMoveController. I wonder if there is a better way we could do this or just accept the duplication. Maybe create a another controller called FourArmApple2Controller or UnlockedApple2Controller which this and Apple2EnforceLHMoveController inherit from.

[Relm-Arrowny]

I think this will be moot when we add LA and extra lookup correct i06 has.

[oliwenmandiamond]

This class seems confused to me. This should be inheriting from EnergyMotorLookup.

I think this possibly needs to be restructured so that we have three classes of this, one for EnergyGapEpicsMotorLookup, EnergyPhaseEpicsMotorLookup, and GapMotorEpicsEnergyLookup and then create an instance of each one. This way each logic is more focused and smaller.

Then we can also update base class method EnergyMotorLookup.update_lookup to be async and then create each one to then give to the controller. We could even make it automatically update by adding a monitor and then forcing an update table if detects a change.

[Relm-Arrowny]

EpicsPolynomialEnergyMotorLookup now inherits from EnergyMotorLookup via a new shared StaticPolynomialEnergyMotorLookup class. I opted not to create three separate classes since their functions are identical, instead I make I06EpicsPolynomialDevice as a composition of EnergyMotorLookup.

We do not really want a autoupdate to prevent energy calibrations from changing without an explicit request through the triggerable interface. Not 100% if we want triggerable or not but it seem to me it much easier to do yield from bps.trigger(device) Then working out how to make blueapi do await device.update_lookup().