Helper to check against motor limits about ophyd-async HOT 2 OPEN

class XYZLimitsChecker(Device):
    """Checks that a position is within the XYZ limits of the motor.
    To use set the x, y, z vector to the device and read check `within_limits`
    """

    def __init__(self, prefix: str) -> None:
        self.within_limits = False

        axes = ["X", "Y", "Z"]
        self.limit_signals = {
            axis: (
                epics_signal_r(float, f"{prefix}{axis}.LLM"),
                epics_signal_r(float, f"{prefix}{axis}.HLM"),
            )
            for axis in axes
        }

    def children(self) -> Iterator[Tuple[str, Device]]:
        for attr, signals in self.limit_signals.items():
            yield attr + "low_lim", signals[0]
            yield attr + "high_lim", signals[1]
        return super().children()

    async def _check_limits(self, position: np.ndarray):
        check_within_limits = True
        for i, axis_limits in enumerate(self.limit_signals.values()):
            check_within_limits &= (
                (await axis_limits[0].get_value())
                < position[i]
                < (await axis_limits[1].get_value())
            )
        self.within_limits = check_within_limits

    def set(self, position: np.ndarray) -> AsyncStatus:
        return AsyncStatus(wait_for(self._check_limits(position), None))

def my_plan():
    yield from bps.set(limit_checker, [1, 2, 3])
    if limit_checker.within_limits:
        ...