dls-dodal 1.35.0__tar.gz → 1.36.0__tar.gz

{dls_dodal-1.35.0 → dls_dodal-1.36.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: dls-dodal
-Version: 1.35.0
+Version: 1.36.0
 Summary: Ophyd devices and other utils that could be used across DLS beamlines
 Author-email: Dominic Oram <dominic.oram@diamond.ac.uk>
 License:                                  Apache License
@@ -233,11 +233,13 @@ Requires-Dist: aiofiles
 Requires-Dist: aiohttp
 Requires-Dist: redis
 Requires-Dist: deepdiff
+Requires-Dist: scanspec>=0.7.3
 Provides-Extra: dev
 Requires-Dist: black; extra == "dev"
 Requires-Dist: diff-cover; extra == "dev"
 Requires-Dist: mypy; extra == "dev"
 Requires-Dist: myst-parser; extra == "dev"
+Requires-Dist: ophyd_async[sim]; extra == "dev"
 Requires-Dist: pipdeptree; extra == "dev"
 Requires-Dist: pre-commit; extra == "dev"
 Requires-Dist: psutil; extra == "dev"

{dls_dodal-1.35.0 → dls_dodal-1.36.0}/pyproject.toml

@@ -32,6 +32,7 @@ dependencies = [
     "aiohttp",
     "redis",
     "deepdiff",
+    "scanspec>=0.7.3",
 ]
 
 dynamic = ["version"]
@@ -47,6 +48,7 @@ dev = [
     # Commented out due to dependency version conflict with pydantic 1.x
     # "copier",
     "myst-parser",
+    "ophyd_async[sim]",
     "pipdeptree",
     "pre-commit",
     "psutil",

{dls_dodal-1.35.0 → dls_dodal-1.36.0}/src/dls_dodal.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: dls-dodal
-Version: 1.35.0
+Version: 1.36.0
 Summary: Ophyd devices and other utils that could be used across DLS beamlines
 Author-email: Dominic Oram <dominic.oram@diamond.ac.uk>
 License:                                  Apache License
@@ -233,11 +233,13 @@ Requires-Dist: aiofiles
 Requires-Dist: aiohttp
 Requires-Dist: redis
 Requires-Dist: deepdiff
+Requires-Dist: scanspec>=0.7.3
 Provides-Extra: dev
 Requires-Dist: black; extra == "dev"
 Requires-Dist: diff-cover; extra == "dev"
 Requires-Dist: mypy; extra == "dev"
 Requires-Dist: myst-parser; extra == "dev"
+Requires-Dist: ophyd_async[sim]; extra == "dev"
 Requires-Dist: pipdeptree; extra == "dev"
 Requires-Dist: pre-commit; extra == "dev"
 Requires-Dist: psutil; extra == "dev"

{dls_dodal-1.35.0 → dls_dodal-1.36.0}/src/dls_dodal.egg-info/SOURCES.txt

@@ -212,9 +212,14 @@ src/dodal/devices/zocalo/zocalo_constants.py
 src/dodal/devices/zocalo/zocalo_interaction.py
 src/dodal/devices/zocalo/zocalo_results.py
 src/dodal/parameters/experiment_parameter_base.py
-src/dodal/plans/check_topup.py
-src/dodal/plans/data_session_metadata.py
-src/dodal/plans/motor_util_plans.py
+src/dodal/plan_stubs/__init__.py
+src/dodal/plan_stubs/check_topup.py
+src/dodal/plan_stubs/data_session.py
+src/dodal/plan_stubs/motor_utils.py
+src/dodal/plan_stubs/wrapped.py
+src/dodal/plans/__init__.py
+src/dodal/plans/scanspec.py
+src/dodal/plans/wrapped.py
 system_tests/__init__.py
 system_tests/test_aperturescatterguard_system.py
 system_tests/test_eiger_system.py
@@ -338,8 +343,13 @@ tests/fake_zocalo/README.rst
 tests/fake_zocalo/__init__.py
 tests/fake_zocalo/__main__.py
 tests/fake_zocalo/dls_start_fake_zocalo.sh
-tests/plans/test_motor_util_plans.py
-tests/plans/test_topup_plan.py
+tests/plan_stubs/test_motor_util_plans.py
+tests/plan_stubs/test_topup_plan.py
+tests/plan_stubs/test_wrapped_stubs.py
+tests/plans/conftest.py
+tests/plans/test_compliance.py
+tests/plans/test_scanspec.py
+tests/plans/test_wrapped.py
 tests/preprocessors/test_filesystem_metadata.py
 tests/test_data/bad_beamlineParameters
 tests/test_data/i04_beamlineParameters

{dls_dodal-1.35.0 → dls_dodal-1.36.0}/src/dls_dodal.egg-info/requires.txt

@@ -17,12 +17,14 @@ aiofiles
 aiohttp
 redis
 deepdiff
+scanspec>=0.7.3
 
 [dev]
 black
 diff-cover
 mypy
 myst-parser
+ophyd_async[sim]
 pipdeptree
 pre-commit
 psutil

{dls_dodal-1.35.0 → dls_dodal-1.36.0}/src/dodal/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '1.35.0'
-__version_tuple__ = version_tuple = (1, 35, 0)
+__version__ = version = '1.36.0'
+__version_tuple__ = version_tuple = (1, 36, 0)

{dls_dodal-1.35.0 → dls_dodal-1.36.0}/src/dodal/devices/eiger.py

@@ -1,4 +1,5 @@
 # type: ignore # Eiger will soon be ophyd-async https://github.com/DiamondLightSource/dodal/issues/700
+from dataclasses import dataclass
 from enum import Enum
 
 from ophyd import Component, Device, EpicsSignalRO, Signal
@@ -14,6 +15,15 @@ from dodal.log import LOGGER
 FREE_RUN_MAX_IMAGES = 1000000
 
 
+@dataclass
+class EigerTimeouts:
+    stale_params_timeout: int = 60
+    general_status_timeout: int = 10
+    meta_file_ready_timeout: int = 30
+    all_frames_timeout: int = 120
+    arming_timeout: int = 60
+
+
 class InternalEigerTriggerMode(Enum):
     INTERNAL_SERIES = 0
     INTERNAL_ENABLE = 1
@@ -21,6 +31,17 @@ class InternalEigerTriggerMode(Enum):
     EXTERNAL_ENABLE = 3
 
 
+AVAILABLE_TIMEOUTS = {
+    "i03": EigerTimeouts(
+        stale_params_timeout=60,
+        general_status_timeout=10,
+        meta_file_ready_timeout=30,
+        all_frames_timeout=120,  # Long timeout for meta file to compensate for filesystem issues
+        arming_timeout=60,
+    )
+}
+
+
 class EigerDetector(Device):
     class ArmingSignal(Signal):
         def set(self, value, *, timeout=None, settle_time=None, **kwargs):
@@ -34,13 +55,6 @@ class EigerDetector(Device):
     stale_params = Component(EpicsSignalRO, "CAM:StaleParameters_RBV")
     bit_depth = Component(EpicsSignalRO, "CAM:BitDepthImage_RBV")
 
-    STALE_PARAMS_TIMEOUT = 60
-    GENERAL_STATUS_TIMEOUT = 10
-    # Long timeout for meta file to compensate for filesystem issues
-    META_FILE_READY_TIMEOUT = 30
-    ALL_FRAMES_TIMEOUT = 120
-    ARMING_TIMEOUT = 60
-
     filewriters_finished: StatusBase
 
     detector_params: DetectorParams | None = None
@@ -48,13 +62,20 @@ class EigerDetector(Device):
     arming_status = Status()
     arming_status.set_finished()
 
+    def __init__(self, beamline: str = "i03", *args, **kwargs):
+        super().__init__(*args, **kwargs)
+        self.beamline = beamline
+        # using i03 timeouts as default
+        self.timeouts = AVAILABLE_TIMEOUTS.get(beamline, AVAILABLE_TIMEOUTS["i03"])
+
     @classmethod
     def with_params(
         cls,
         params: DetectorParams,
         name: str = "EigerDetector",
+        beamline: str = "i03",
     ):
-        det = cls(name=name)
+        det = cls(name=name, beamline=beamline)
         det.set_detector_parameters(params)
         return det
 
@@ -82,7 +103,7 @@ class EigerDetector(Device):
     def async_stage(self):
         self.odin.nodes.clear_odin_errors()
         status_ok, error_message = self.odin.wait_for_odin_initialised(
-            self.GENERAL_STATUS_TIMEOUT
+            self.timeouts.general_status_timeout
         )
         if not status_ok:
             raise Exception(f"Odin not initialised: {error_message}")
@@ -96,14 +117,14 @@ class EigerDetector(Device):
     def wait_on_arming_if_started(self):
         if not self.arming_status.done:
             LOGGER.info("Waiting for arming to finish")
-            self.arming_status.wait(self.ARMING_TIMEOUT)
+            self.arming_status.wait(self.timeouts.arming_timeout)
 
     def stage(self):
         self.wait_on_arming_if_started()
         if not self.is_armed():
             LOGGER.info("Eiger not armed, arming")
 
-            self.async_stage().wait(timeout=self.ARMING_TIMEOUT)
+            self.async_stage().wait(timeout=self.timeouts.arming_timeout)
 
     def stop_odin_when_all_frames_collected(self):
         LOGGER.info("Waiting on all frames")
@@ -111,7 +132,7 @@ class EigerDetector(Device):
             await_value(
                 self.odin.file_writer.num_captured,
                 self.detector_params.full_number_of_images,
-            ).wait(self.ALL_FRAMES_TIMEOUT)
+            ).wait(self.timeouts.all_frames_timeout)
         finally:
             LOGGER.info("Stopping Odin")
             self.odin.stop().wait(5)
@@ -124,7 +145,9 @@ class EigerDetector(Device):
                 # In free run mode we have to manually stop odin
                 self.stop_odin_when_all_frames_collected()
 
-            self.odin.file_writer.start_timeout.set(1).wait(self.GENERAL_STATUS_TIMEOUT)
+            self.odin.file_writer.start_timeout.set(1).wait(
+                self.timeouts.general_status_timeout
+            )
             LOGGER.info("Waiting on filewriter to finish")
             self.filewriters_finished.wait(30)
 
@@ -132,7 +155,7 @@ class EigerDetector(Device):
         finally:
             self.disarm_detector()
             status_ok = self.odin.check_and_wait_for_odin_state(
-                self.GENERAL_STATUS_TIMEOUT
+                self.timeouts.general_status_timeout
             )
             self.disable_roi_mode()
         return status_ok
@@ -142,10 +165,12 @@ class EigerDetector(Device):
         LOGGER.info("Eiger stop() called - cleaning up...")
         self.wait_on_arming_if_started()
         stop_status = self.odin.stop()
-        self.odin.file_writer.start_timeout.set(1).wait(self.GENERAL_STATUS_TIMEOUT)
+        self.odin.file_writer.start_timeout.set(1).wait(
+            self.timeouts.general_status_timeout
+        )
         self.disarm_detector()
         stop_status &= self.disable_roi_mode()
-        stop_status.wait(self.GENERAL_STATUS_TIMEOUT)
+        stop_status.wait(self.timeouts.general_status_timeout)
         # See https://github.com/DiamondLightSource/hyperion/issues/1395
         LOGGER.info("Turning off Eiger dev/shm streaming")
         self.odin.fan.dev_shm_enable.set(0).wait()
@@ -166,19 +191,19 @@ class EigerDetector(Device):
         )
 
         status = self.cam.roi_mode.set(
-            1 if enable else 0, timeout=self.GENERAL_STATUS_TIMEOUT
+            1 if enable else 0, timeout=self.timeouts.general_status_timeout
         )
         status &= self.odin.file_writer.image_height.set(
-            detector_dimensions.height, timeout=self.GENERAL_STATUS_TIMEOUT
+            detector_dimensions.height, timeout=self.timeouts.general_status_timeout
         )
         status &= self.odin.file_writer.image_width.set(
-            detector_dimensions.width, timeout=self.GENERAL_STATUS_TIMEOUT
+            detector_dimensions.width, timeout=self.timeouts.general_status_timeout
         )
         status &= self.odin.file_writer.num_row_chunks.set(
-            detector_dimensions.height, timeout=self.GENERAL_STATUS_TIMEOUT
+            detector_dimensions.height, timeout=self.timeouts.general_status_timeout
         )
         status &= self.odin.file_writer.num_col_chunks.set(
-            detector_dimensions.width, timeout=self.GENERAL_STATUS_TIMEOUT
+            detector_dimensions.width, timeout=self.timeouts.general_status_timeout
         )
 
         return status
@@ -186,25 +211,29 @@ class EigerDetector(Device):
     def set_cam_pvs(self) -> AndStatus:
         assert self.detector_params is not None
         status = self.cam.acquire_time.set(
-            self.detector_params.exposure_time, timeout=self.GENERAL_STATUS_TIMEOUT
+            self.detector_params.exposure_time,
+            timeout=self.timeouts.general_status_timeout,
         )
         status &= self.cam.acquire_period.set(
-            self.detector_params.exposure_time, timeout=self.GENERAL_STATUS_TIMEOUT
+            self.detector_params.exposure_time,
+            timeout=self.timeouts.general_status_timeout,
+        )
+        status &= self.cam.num_exposures.set(
+            1, timeout=self.timeouts.general_status_timeout
         )
-        status &= self.cam.num_exposures.set(1, timeout=self.GENERAL_STATUS_TIMEOUT)
         status &= self.cam.image_mode.set(
-            self.cam.ImageMode.MULTIPLE, timeout=self.GENERAL_STATUS_TIMEOUT
+            self.cam.ImageMode.MULTIPLE, timeout=self.timeouts.general_status_timeout
         )
         status &= self.cam.trigger_mode.set(
             InternalEigerTriggerMode.EXTERNAL_SERIES.value,
-            timeout=self.GENERAL_STATUS_TIMEOUT,
+            timeout=self.timeouts.general_status_timeout,
         )
         return status
 
     def set_odin_number_of_frame_chunks(self) -> Status:
         assert self.detector_params is not None
         status = self.odin.file_writer.num_frames_chunks.set(
-            1, timeout=self.GENERAL_STATUS_TIMEOUT
+            1, timeout=self.timeouts.general_status_timeout
         )
         return status
 
@@ -212,16 +241,20 @@ class EigerDetector(Device):
         assert self.detector_params is not None
         file_prefix = self.detector_params.full_filename
         status = self.odin.file_writer.file_path.set(
-            self.detector_params.directory, timeout=self.GENERAL_STATUS_TIMEOUT
+            self.detector_params.directory, timeout=self.timeouts.general_status_timeout
         )
         status &= self.odin.file_writer.file_name.set(
-            file_prefix, timeout=self.GENERAL_STATUS_TIMEOUT
+            file_prefix, timeout=self.timeouts.general_status_timeout
         )
         status &= await_value(
-            self.odin.meta.file_name, file_prefix, timeout=self.GENERAL_STATUS_TIMEOUT
+            self.odin.meta.file_name,
+            file_prefix,
+            timeout=self.timeouts.general_status_timeout,
         )
         status &= await_value(
-            self.odin.file_writer.id, file_prefix, timeout=self.GENERAL_STATUS_TIMEOUT
+            self.odin.file_writer.id,
+            file_prefix,
+            timeout=self.timeouts.general_status_timeout,
         )
         return status
 
@@ -231,19 +264,22 @@ class EigerDetector(Device):
             self.detector_params.detector_distance
         )
         status = self.cam.beam_center_x.set(
-            beam_x_pixels, timeout=self.GENERAL_STATUS_TIMEOUT
+            beam_x_pixels, timeout=self.timeouts.general_status_timeout
         )
         status &= self.cam.beam_center_y.set(
-            beam_y_pixels, timeout=self.GENERAL_STATUS_TIMEOUT
+            beam_y_pixels, timeout=self.timeouts.general_status_timeout
         )
         status &= self.cam.det_distance.set(
-            self.detector_params.detector_distance, timeout=self.GENERAL_STATUS_TIMEOUT
+            self.detector_params.detector_distance,
+            timeout=self.timeouts.general_status_timeout,
         )
         status &= self.cam.omega_start.set(
-            self.detector_params.omega_start, timeout=self.GENERAL_STATUS_TIMEOUT
+            self.detector_params.omega_start,
+            timeout=self.timeouts.general_status_timeout,
         )
         status &= self.cam.omega_incr.set(
-            self.detector_params.omega_increment, timeout=self.GENERAL_STATUS_TIMEOUT
+            self.detector_params.omega_increment,
+            timeout=self.timeouts.general_status_timeout,
         )
         return status
 
@@ -259,7 +295,7 @@ class EigerDetector(Device):
         current_energy = self.cam.photon_energy.get()
         if abs(current_energy - energy) > tolerance:
             return self.cam.photon_energy.set(
-                energy, timeout=self.GENERAL_STATUS_TIMEOUT
+                energy, timeout=self.timeouts.general_status_timeout
             )
         else:
             status = Status()
@@ -275,45 +311,46 @@ class EigerDetector(Device):
         assert self.detector_params is not None
         status = self.cam.num_images.set(
             self.detector_params.num_images_per_trigger,
-            timeout=self.GENERAL_STATUS_TIMEOUT,
+            timeout=self.timeouts.general_status_timeout,
         )
         if self.detector_params.trigger_mode == TriggerMode.FREE_RUN:
             # The Eiger can't actually free run so we set a very large number of frames
             status &= self.cam.num_triggers.set(
-                FREE_RUN_MAX_IMAGES, timeout=self.GENERAL_STATUS_TIMEOUT
+                FREE_RUN_MAX_IMAGES, timeout=self.timeouts.general_status_timeout
             )
             # Setting Odin to write 0 frames tells it to write until externally stopped
             status &= self.odin.file_writer.num_capture.set(
-                0, timeout=self.GENERAL_STATUS_TIMEOUT
+                0, timeout=self.timeouts.general_status_timeout
             )
         elif self.detector_params.trigger_mode == TriggerMode.SET_FRAMES:
             status &= self.cam.num_triggers.set(
-                self.detector_params.num_triggers, timeout=self.GENERAL_STATUS_TIMEOUT
+                self.detector_params.num_triggers,
+                timeout=self.timeouts.general_status_timeout,
             )
             status &= self.odin.file_writer.num_capture.set(
                 self.detector_params.full_number_of_images,
-                timeout=self.GENERAL_STATUS_TIMEOUT,
+                timeout=self.timeouts.general_status_timeout,
             )
 
         return status
 
     def _wait_for_odin_status(self) -> StatusBase:
         self.forward_bit_depth_to_filewriter()
-        await_value(self.odin.meta.active, 1).wait(self.GENERAL_STATUS_TIMEOUT)
+        await_value(self.odin.meta.active, 1).wait(self.timeouts.general_status_timeout)
 
         status = self.odin.file_writer.capture.set(
-            1, timeout=self.GENERAL_STATUS_TIMEOUT
+            1, timeout=self.timeouts.general_status_timeout
         )
         LOGGER.info("Eiger staging: awaiting odin metadata")
         status &= await_value(
-            self.odin.meta.ready, 1, timeout=self.META_FILE_READY_TIMEOUT
+            self.odin.meta.ready, 1, timeout=self.timeouts.meta_file_ready_timeout
         )
         return status
 
     def _wait_fan_ready(self) -> StatusBase:
         self.filewriters_finished = self.odin.create_finished_status()
         LOGGER.info("Eiger staging: awaiting odin fan ready")
-        return await_value(self.odin.fan.ready, 1, self.GENERAL_STATUS_TIMEOUT)
+        return await_value(self.odin.fan.ready, 1, self.timeouts.general_status_timeout)
 
     def _finish_arm(self) -> Status:
         LOGGER.info("Eiger staging: Finishing arming")
@@ -324,7 +361,7 @@ class EigerDetector(Device):
     def forward_bit_depth_to_filewriter(self):
         bit_depth = self.bit_depth.get()
         self.odin.file_writer.data_type.set(f"UInt{bit_depth}").wait(
-            self.GENERAL_STATUS_TIMEOUT
+            self.timeouts.general_status_timeout
         )
 
     def change_dev_shm(self, enable_dev_shm: bool):
@@ -332,7 +369,7 @@ class EigerDetector(Device):
         return self.odin.fan.dev_shm_enable.set(1 if enable_dev_shm else 0)
 
     def disarm_detector(self):
-        self.cam.acquire.set(0).wait(self.GENERAL_STATUS_TIMEOUT)
+        self.cam.acquire.set(0).wait(self.timeouts.general_status_timeout)
 
     def do_arming_chain(self) -> Status:
         functions_to_do_arm = []
@@ -355,7 +392,9 @@ class EigerDetector(Device):
             self.set_num_triggers_and_captures,
             lambda: await_value(self.stale_params, 0, 60),
             self._wait_for_odin_status,
-            lambda: self.cam.acquire.set(1, timeout=self.GENERAL_STATUS_TIMEOUT),
+            lambda: self.cam.acquire.set(
+                1, timeout=self.timeouts.general_status_timeout
+            ),
             self._wait_fan_ready,
             self._finish_arm,
         ]

dls_dodal-1.35.0/src/dodal/plans/data_session_metadata.py → dls_dodal-1.36.0/src/dodal/plan_stubs/data_session.py

@@ -2,7 +2,7 @@ from bluesky import plan_stubs as bps
 from bluesky import preprocessors as bpp
 from bluesky.utils import MsgGenerator, make_decorator
 
-from dodal.common.beamlines import beamline_utils
+from dodal.common.beamlines.beamline_utils import get_path_provider
 from dodal.common.types import UpdatingPathProvider
 
 DATA_SESSION = "data_session"
@@ -31,7 +31,7 @@ def attach_data_session_metadata_wrapper(
         Iterator[Msg]: Plan messages
     """
     if provider is None:
-        provider = beamline_utils.get_path_provider()
+        provider = get_path_provider()
     yield from bps.wait_for([provider.update])
     ress = yield from bps.wait_for([provider.data_session])
     data_session = ress[0].result()

dls_dodal-1.35.0/src/dodal/plans/motor_util_plans.py → dls_dodal-1.36.0/src/dodal/plan_stubs/motor_utils.py

@@ -23,7 +23,7 @@ class MoveTooLarge(Exception):
         super().__init__(*args)
 
 
-def _check_and_cache_values(
+def check_and_cache_values(
     devices_and_positions: dict[MovableReadableDevice, float],
     smallest_move: float,
     maximum_move: float,
@@ -89,7 +89,7 @@ def move_and_reset_wrapper(
                                        on. If false it is left up to the caller to wait on
                                        them. Defaults to True.
     """
-    initial_positions = yield from _check_and_cache_values(
+    initial_positions = yield from check_and_cache_values(
         device_and_positions, smallest_move, maximum_move
     )
 

dls_dodal-1.36.0/src/dodal/plan_stubs/wrapped.py

@@ -0,0 +1,150 @@
+import itertools
+from collections.abc import Mapping
+from typing import Annotated, Any
+
+import bluesky.plan_stubs as bps
+from bluesky.protocols import Movable
+from bluesky.utils import MsgGenerator
+
+"""
+Wrappers for Bluesky built-in plan stubs with type hinting
+"""
+
+Group = Annotated[str, "String identifier used by 'wait' or stubs that await"]
+
+
+# After bluesky 1.14, bounds for stubs that move can be narrowed
+# https://github.com/bluesky/bluesky/issues/1821
+def set_absolute(
+    movable: Movable, value: Any, group: Group | None = None, wait: bool = False
+) -> MsgGenerator:
+    """
+    Set a device, wrapper for `bp.abs_set`.
+
+    Args:
+        movable (Movable): The device to set
+        value (T): The new value
+        group (Group | None, optional): The message group to associate with the
+                                           setting, for sequencing. Defaults to None.
+        wait (bool, optional): The group should wait until all setting is complete
+                               (e.g. a motor has finished moving). Defaults to False.
+
+    Returns:
+        MsgGenerator: Plan
+
+    Yields:
+        Iterator[MsgGenerator]: Bluesky messages
+    """
+    return (yield from bps.abs_set(movable, value, group=group, wait=wait))
+
+
+def set_relative(
+    movable: Movable, value: Any, group: Group | None = None, wait: bool = False
+) -> MsgGenerator:
+    """
+    Change a device, wrapper for `bp.rel_set`.
+
+    Args:
+        movable (Movable): The device to set
+        value (T): The new value
+        group (Group | None, optional): The message group to associate with the
+                                           setting, for sequencing. Defaults to None.
+        wait (bool, optional): The group should wait until all setting is complete
+                               (e.g. a motor has finished moving). Defaults to False.
+
+    Returns:
+        MsgGenerator: Plan
+
+    Yields:
+        Iterator[MsgGenerator]: Bluesky messages
+    """
+
+    return (yield from bps.rel_set(movable, value, group=group, wait=wait))
+
+
+def move(moves: Mapping[Movable, Any], group: Group | None = None) -> MsgGenerator:
+    """
+    Move a device, wrapper for `bp.mv`.
+
+    Args:
+        moves (Mapping[Movable, T]): Mapping of Movables to target positions
+        group (Group | None, optional): The message group to associate with the
+                                           setting, for sequencing. Defaults to None.
+
+    Returns:
+        MsgGenerator: Plan
+
+    Yields:
+        Iterator[MsgGenerator]: Bluesky messages
+    """
+
+    return (
+        # type ignore until https://github.com/bluesky/bluesky/issues/1809
+        yield from bps.mv(*itertools.chain.from_iterable(moves.items()), group=group)  # type: ignore
+    )
+
+
+def move_relative(
+    moves: Mapping[Movable, Any], group: Group | None = None
+) -> MsgGenerator:
+    """
+    Move a device relative to its current position, wrapper for `bp.mvr`.
+
+    Args:
+        moves (Mapping[Movable, T]): Mapping of Movables to target deltas
+        group (Group | None, optional): The message group to associate with the
+                                           setting, for sequencing. Defaults to None.
+
+    Returns:
+        MsgGenerator: Plan
+
+    Yields:
+        Iterator[MsgGenerator]: Bluesky messages
+    """
+
+    return (
+        # type ignore until https://github.com/bluesky/bluesky/issues/1809
+        yield from bps.mvr(*itertools.chain.from_iterable(moves.items()), group=group)  # type: ignore
+    )
+
+
+def sleep(time: float) -> MsgGenerator:
+    """
+    Suspend all action for a given time, wrapper for `bp.sleep`
+
+    Args:
+        time (float): Time to wait in seconds
+
+    Returns:
+        MsgGenerator: Plan
+
+    Yields:
+        Iterator[MsgGenerator]: Bluesky messages
+    """
+
+    return (yield from bps.sleep(time))
+
+
+def wait(
+    group: Group | None = None,
+    timeout: float | None = None,
+) -> MsgGenerator:
+    """
+    Wait for a group status to complete, wrapper for `bp.wait`.
+    Does not expose move_on, as when used as a stub will not fail on Timeout.
+
+    Args:
+        group (Group | None, optional): The name of the group to wait for, defaults
+                                           to None, in which case waits for all
+                                           groups that have not yet been awaited.
+        timeout (float | None, default=None): a timeout in seconds
+
+
+    Returns:
+        MsgGenerator: Plan
+
+    Yields:
+        Iterator[MsgGenerator]: Bluesky messages
+    """
+
+    return (yield from bps.wait(group, timeout=timeout))

dls_dodal-1.36.0/src/dodal/plans/__init__.py

@@ -0,0 +1,4 @@
+from .scanspec import spec_scan
+from .wrapped import count
+
+__all__ = ["count", "spec_scan"]