refactor: Include Bluesky plan stubs by default by shree-iyengar-dls · Pull Request #1694 · DiamondLightSource/blueapi

shree-iyengar-dls · 2026-10-08T16:28:36Z

Summary of changes

Since the improvement of type checking of plan stubs in bluesky, dodal wrapped plan_stubs are no longer required and we can import plan stubs directly from bluesky - these are hardcoded in a list of DEFAULT_PLAN_STUBS
NB: bluesky plan stubs have the annotation Moveable[Any]. The is_compatible_args function in blueapi checks type arguments and so there might be a mismatch between for example Moveable[float] and the bluesky plan stub annotation? I had to change the type annotation of FakeDevice but not sure what effect this might have on other devices

codecov · 2026-10-13T13:09:29Z

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 96.32%. Comparing base (4701980) to head (f16a563).

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #1694   +/-   ##
=======================================
  Coverage   96.31%   96.32%           
=======================================
  Files          50       50           
  Lines        3831     3836    +5     
=======================================
+ Hits         3690     3695    +5     
  Misses        141      141

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shree-iyengar-dls · 2026-10-14T14:15:47Z

Blocked by #1662 and #1663

oliwenmandiamond · 2026-10-20T08:25:35Z

@shree-iyengar-dls I would put this in draft for now as this depends on a few different things which are yet to be merged e.g updated bluesky version, supporting *args and **kwargs

abbiemery · 2026-10-22T17:25:35Z

Unblocked partially by the merging of #1715, might still be blocked by a bluesky release.

…ce/blueapi into 1691_blueapi_plan_stubs

oliwenmandiamond · 2026-10-26T12:06:41Z

Blocked by #1720

…m docs sections

oliwenmandiamond · 2026-11-10T13:15:22Z

I have tested this

>>> pl.mv(dev.stage.x, 90, dev.stage.theta, 5)
>>> pl.abs_set(dev.stage.x, 100, wait=True)
>>> pl.mvr(dev.stage.x, -2)
>>> pl.mvr
mvr(
    args: list[Movable | Any] | None = None,
    group: Any | None = None,
    timeout: float | None = None,
    kwargs: dict | None = None
)

Seems to work fine for plan stubs now

oliwenmandiamond · 2026-11-11T14:04:01Z


    def with_config(self, config: EnvironmentConfig) -> None:
        if config.metadata is not None:
-            self.run_engine.md |= config.metadata.model_dump()


Change not related to this change

With the original |= I'm getting an error:

Operator "|" not supported for types "RunEngineMetadata" and "Dict[str, Any]"

oliwenmandiamond

This looks really good, thank you! I think a small amount of documentation is needed to go with this about blueapi providing default bluesky plan stubs and that they can be overwritten for whatever reason is also possible.

Then am happy to approve

oliwenmandiamond · 2026-11-13T16:15:20Z



-class FakeDevice(Movable[float]):
+class FakeDevice(Movable[Any]):


Why was this changed to Any? If it does indeed take Any, then the type hint for set would need to be updated to Any as well

def set(self, value: Any) -> Status:

Yeah not sure if this is right but the NB point in my PR description should explain

tpoliaw · 2026-11-13T12:32:28Z

-      module: dodal.plan_stubs.wrapped
 ```
-These plans that will be used in this tutorial can be found in the [dodal repository](https://github.com/DiamondLightSource/dodal/tree/b4b38f1e0cf480faeb29d67695440c45a148f169). Specifically, in `dodal/src/dodal/plans/wrapped.py` and `dodal/src/dodal/plan_stubs/wrapped.py`.
+These plans that will be used in this tutorial can be found in the [dodal repository](https://github.com/DiamondLightSource/dodal/tree/b4b38f1e0cf480faeb29d67695440c45a148f169). Specifically, in `dodal/src/dodal/plans/wrapped.py` and [bluesky repository](https://github.com/bluesky/bluesky/blob/1fb2f4e13437edf4a72372dacd455cfaf905f09e/src/bluesky/plan_stubs.py#L321). 


I think we should make a distinction between the plans that were just added in the example and the plans available by default. At the moment it looks like you add one module and get two loads of plans to work with.

(and nit: Was this meant to point to a specific line? )

tpoliaw · 2026-11-13T16:08:53Z

+
+    ctx.register_plan(mv)
+    assert ctx.plans["mv"].plan_function is mv
+    assert ctx.plans["mv"].plan_function is not bps.mv


nit: I think once we've established the plan is mv it's unlikely to also be bps.mv

tpoliaw · 2026-11-13T17:40:06Z



-class FakeDevice(Movable[float]):
+class FakeDevice(Movable[Any]):


This needing to change is a sign that the type hints in the bluesky plan stubs are wrong. I'll open an issue there.

tpoliaw · 2026-11-13T17:44:59Z

 def test_plans_iterable(bc: BlueapiClient):
    names = {plan.name for plan in bc.plans}
-    assert {"count", "sleep", "set_absolute"} <= names
+    assert {"count", "sleep", "abs_set"} <= names


sleep and abs_set will be in the other list. Might be worth checking another couple of plans from dodal's wrapped plan module.

feat: add default plans list

4866f5a

shree-iyengar-dls changed the title ~~feat: add default plans list~~ refactor: Include Bluesky plan stubs by default Oct 8, 2026

shree-iyengar-dls added 2 commits October 13, 2026 10:45

chore: pin to bluesky main to get new msg generator merged changes

d112abe

chore: fix tiled import plugins

45c0490

chore: changes due to updates in bluesky main

e3caf4c

chore: add * to stop functions

d96a6fb

abbiemery requested changes Oct 19, 2026

View reviewed changes

Comment thread pyproject.toml Resolved

shree-iyengar-dls added the decision pending label Oct 21, 2026

abbiemery added decision pending and removed decision pending labels Oct 22, 2026

shree-iyengar-dls added 5 commits October 23, 2026 09:07

feat: add default plans list

57d4248

chore: pin to bluesky main to get new msg generator merged changes

2c307e4

chore: fix tiled import plugins

c8b214c

chore: changes due to updates in bluesky main

3c5b194

chore: add * to stop functions

b020927

shree-iyengar-dls force-pushed the 1691_blueapi_plan_stubs branch from d96a6fb to b020927 Compare October 23, 2026 09:31

chore: regenerate uv lock file

e6ab3b5

shree-iyengar-dls force-pushed the 1691_blueapi_plan_stubs branch from 9ff9c16 to e6ab3b5 Compare October 23, 2026 12:30

oliwenmandiamond and others added 5 commits October 23, 2026 15:48

Add plans schema for system tests

6560523

Merge branch '1691_blueapi_plan_stubs' of github.com:DiamondLightSour…

07a920a

…ce/blueapi into 1691_blueapi_plan_stubs

changes to uv lock file

4dc37cc

Update schema again

00250ff

Merge branch '1691_blueapi_plan_stubs' of github.com:DiamondLightSour…

c86e8fc

…ce/blueapi into 1691_blueapi_plan_stubs

oliwenmandiamond mentioned this pull request Oct 23, 2026

kwargs: {} gets added to plan **kwargs #1719

Closed

shree-iyengar-dls removed the decision pending label Oct 26, 2026

chore: remove dodal plan stubs wrapped from config.yaml

767bbba

Merge branch 'main' into 1691_blueapi_plan_stubs

2805249

shree-iyengar-dls and others added 6 commits October 26, 2026 15:19

regenerate plans.json

48293eb

merge main into my branch

e2bba11

change set_absolue to abs_set and remove dodal wrapped plan stubs fro…

d32d122

…m docs sections

Merge branch 'main' into 1691_blueapi_plan_stubs

0dc41cf

Merge branch 'main' into 1691_blueapi_plan_stubs

723093c

Merge branch 'main' into 1691_blueapi_plan_stubs

cf41bd2

shree-iyengar-dls added 4 commits November 10, 2026 18:03

Merge branch 'main' into 1691_blueapi_plan_stubs

189f006

chore: move bluesky pin back from main branch to v1.16

7ffbbf1

chore: regenerate plans.json

46ecf0a

Merge branch 'main' into 1691_blueapi_plan_stubs

573f491

oliwenmandiamond reviewed Nov 11, 2026

View reviewed changes

shree-iyengar-dls and others added 5 commits November 11, 2026 14:52

remove obsolete deps

176db63

update uv lock file

1a70e11

add loc and locate to default plan stubs list

ffd5d26

Merge branch 'main' into 1691_blueapi_plan_stubs

96a0182

tests: remove dodal plan stubs and fix tests to use bps.plan_stubs

623cfbb

shree-iyengar-dls marked this pull request as ready for review November 13, 2026 11:14

shree-iyengar-dls requested a review from a team as a code owner November 13, 2026 11:14

shree-iyengar-dls requested a review from tpoliaw November 13, 2026 11:14

oliwenmandiamond reviewed Nov 13, 2026

View reviewed changes

Comment thread pyproject.toml Resolved

root and others added 2 commits November 13, 2026 16:04

Merge branch 'main' into 1691_blueapi_plan_stubs

5c4d152

chore: update bluesky in pyproject.toml to v16

f16a563

oliwenmandiamond reviewed Nov 13, 2026

View reviewed changes

tpoliaw reviewed Nov 13, 2026

View reviewed changes



		class FakeDevice(Movable[float]):
		class FakeDevice(Movable[Any]):

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