Update to ophyd-async 0.21.1

[oliwenmandiamond]

Update to latest ophyd-async release

Instructions to reviewer on how to test:

1. Check 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 99.15%. Comparing base (145b592) to head (378e4bc).

Additional details and impacted files

@@                           Coverage Diff                            @@
##           update_id_logic_to_use_standard_movable    #2155   +/-   ##
========================================================================
  Coverage                                    99.15%   99.15%           
========================================================================
  Files                                          356      356           
  Lines                                        13871    13871           
========================================================================
  Hits                                         13754    13754           
  Misses                                         117      117           

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[Relm-Arrowny]

If it is not putting str, we have broken something.
in UndulatorGap

        self.user_setpoint = epics_signal_rw(str, prefix + "BLGSET")

[oliwenmandiamond]

The issue is that we trying to rewrite Motor signals which is now causing inconsistently with the movable and fly logic changes so the signal hasn't been swapped out correctly. I think we need to apply the correct MovableLogic and use derived signals to convert between int and str.

[Relm-Arrowny]

I am not sure if we broke anything last time we change it to movablelogic, I think we should just revert it back to its original, there isnt anything to gain by forcing a very unique single action non-stoppable device into a double action movablelogic, It introduces a lot of unnecessary boilerplate for a device that was already working perfectly.

[oliwenmandiamond]

Blocked by #2161