refactor: Include Bluesky plan stubs by default

docs/resources/config_pre_made.yaml

@@ -6,8 +6,6 @@ env:
       module: blueapi.tutorial.devices
     - kind: planFunctions
       module: dodal.plans
-    - kind: planFunctions
-      module: dodal.plan_stubs.wrapped
 stomp:
   enabled: true
   url: tcp://localhost:61613/

docs/tutorials/4. config-add-plans.md

@@ -5,10 +5,8 @@ As well as adding devices to the `config.yaml`, you can add plans. Under the cod
 ``` yaml
     - kind: planFunctions
       module: dodal.plans
-    - kind: planFunctions
-      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). 
 
 Save the changes you've made to the `config.yaml` file. Navigate back to the terminal where the blueapi worker is running. Restart the server to use this updated `config.yaml` file.
 

docs/tutorials/5. config-add-rabbitmq-and-run-plan-cli.md

@@ -48,8 +48,6 @@ env:
       module: blueapi.tutorial.devices
     - kind: planFunctions
       module: dodal.plans
-    - kind: planFunctions
-      module: dodal.plan_stubs.wrapped
 stomp:
   enabled: true
   url: tcp://localhost:61613/

helm/blueapi/README.md

@@ -49,9 +49,9 @@ A Helm chart deploying a worker pod that runs Bluesky plans
 | tracing | object | `{"fastapi":{"excludedURLs":"/healthz"},"otlp":{"enabled":false,"protocol":"http/protobuf","server":{"host":"http://opentelemetry-collector.tracing","port":4318}}}` | Exclude health probe requests from tracing by default to prevent spamming |
 | volumeMounts | list | `[]` | Additional volumeMounts on the output StatefulSet definition. Define how volumes are mounted to the container referenced by using the same name. |
 | volumes | list | `[]` | Additional volumes on the output StatefulSet definition. Define volumes from e.g. Secrets, ConfigMaps or the Filesystem |
-| worker | object | `{"api":{"url":"http://0.0.0.0:8000/"},"env":{"sources":[{"kind":"planFunctions","module":"dodal.plans"},{"kind":"planFunctions","module":"dodal.plan_stubs.wrapped"}]},"logging":{"graylog":{"enabled":false,"url":"tcp://graylog-log-target.diamond.ac.uk:12231/"},"level":"INFO"},"scratch":{"repositories":[],"root":"/workspace"},"stomp":{"auth":{"password":"guest","username":"guest"},"enabled":false,"url":"tcp://rabbitmq:61613/"}}` | Config for the worker goes here, will be mounted into a config file |
+| worker | object | `{"api":{"url":"http://0.0.0.0:8000/"},"env":{"sources":[{"kind":"planFunctions","module":"dodal.plans"}]},"logging":{"graylog":{"enabled":false,"url":"tcp://graylog-log-target.diamond.ac.uk:12231/"},"level":"INFO"},"scratch":{"repositories":[],"root":"/workspace"},"stomp":{"auth":{"password":"guest","username":"guest"},"enabled":false,"url":"tcp://rabbitmq:61613/"}}` | Config for the worker goes here, will be mounted into a config file |
 | worker.api.url | string | `"http://0.0.0.0:8000/"` | 0.0.0.0 required to allow non-loopback traffic If using hostNetwork, the port must be free on the host |
-| worker.env.sources | list | `[{"kind":"planFunctions","module":"dodal.plans"},{"kind":"planFunctions","module":"dodal.plan_stubs.wrapped"}]` | modules (must be installed in the venv) to fetch devices/plans from |
+| worker.env.sources | list | `[{"kind":"planFunctions","module":"dodal.plans"}]` | modules (must be installed in the venv) to fetch devices/plans from |
 | worker.logging | object | `{"graylog":{"enabled":false,"url":"tcp://graylog-log-target.diamond.ac.uk:12231/"},"level":"INFO"}` | Configures logging. Port 12231 is the `dodal` input on graylog which will be renamed `blueapi` |
 | worker.scratch | object | `{"repositories":[],"root":"/workspace"}` | If initContainer is enabled the default branch of python projects in this section are installed into the venv *without their dependencies* |
 | worker.stomp | object | `{"auth":{"password":"guest","username":"guest"},"enabled":false,"url":"tcp://rabbitmq:61613/"}` | Message bus configuration for returning status to GDA/forwarding documents downstream Password may be in the form ${ENV_VAR} to be fetched from an environment variable e.g. mounted from a SealedSecret |

helm/blueapi/values.yaml

@@ -192,8 +192,6 @@ worker:
       #   module: dodal.beamlines.adsim
       - kind: planFunctions
         module: dodal.plans
-      - kind: planFunctions
-        module: dodal.plan_stubs.wrapped
   # -- Message bus configuration for returning status to GDA/forwarding documents downstream
   # Password may be in the form ${ENV_VAR} to be fetched from an environment variable e.g. mounted from a SealedSecret
   stomp:

pyproject.toml

@@ -14,23 +14,24 @@ classifiers = [
 ]
 description = "Lightweight bluesky-as-a-service wrapper application. Also usable as a library."
 dependencies = [
-    "bluesky[plotting]>=1.14.0",                     # plotting includes matplotlib, required for BestEffortCallback in run plans
+    "bluesky[plotting]>=1.16.0",     # plotting includes matplotlib, required for BestEffortCallback in run plans
     "ophyd-async>=0.13.5",
     "pydantic>=2.0",
     "pydantic-settings",
     "stomp-py",
     "PyYAML>=6.0.2",
     "click>=8.2.0",
     "requests",
-    "GitPython>=3.1.58",                             #security base min https://github.com/advisories/GHSA-4gmw-gg2m-w46p - used by the server's /python_environment endpoint and the CLI's scratch setup
-    "event-model==1.24.0",                           # https://github.com/DiamondLightSource/blueapi/issues/684
+    "GitPython>=3.1.58",             #security base min https://github.com/advisories/GHSA-4gmw-gg2m-w46p - used by the server's /python_environment endpoint and the CLI's scratch setup
+    "event-model==1.24.0",           # https://github.com/DiamondLightSource/blueapi/issues/684
     "bluesky-stomp>=0.1.6",
     "opentelemetry-distro>=0.48b0",
     "observability-utils>=0.1.4",
     "pyjwt[crypto]",
     "websockets",
     "tqdm",
     "packaging",
+    "bluesky-tiled-plugins>=2.0.11",
 ]
 dynamic = ["version"]
 license.file = "LICENSE"
@@ -62,7 +63,7 @@ dev = [
     "prek",
     "pydata-sphinx-theme>=0.15.4",
     "pytest",
-    "pyright!=1.1.407",             # https://github.com/bluesky/scanspec/issues/190
+    "pyright!=1.1.407",            # https://github.com/bluesky/scanspec/issues/190
     "pytest-cov",
     "pytest-asyncio",
     "pytest-httpx>=0.35.0",

src/blueapi/core/context.py

@@ -5,15 +5,9 @@
 from importlib import import_module, metadata
 from inspect import Parameter, isclass, signature
 from types import ModuleType, NoneType, UnionType
-from typing import (
-    Any,
-    TypeVar,
-    Union,
-    get_args,
-    get_origin,
-    get_type_hints,
-)
+from typing import Any, TypeVar, Union, get_args, get_origin, get_type_hints
 
+import bluesky.plan_stubs as bps
 from bluesky.protocols import HasName
 from bluesky.run_engine import RunEngine
 from ophyd_async.core import NotConnectedError, PathProvider
@@ -58,6 +52,19 @@
 
 LOGGER = logging.getLogger(__name__)
 
+DEFAULT_PLAN_STUBS = [
+    bps.abs_set,
+    bps.rel_set,
+    bps.mv,
+    bps.mvr,
+    bps.rd,
+    bps.read,
+    bps.stop,
+    bps.sleep,
+    bps.wait,
+    bps.locate,
+    bps.loc,
+]
 
 if "ophyd" in sys.modules:
     # This is an awful hack/workaround to avoid blueapi hanging on shutdown when
@@ -142,6 +149,9 @@ def __post_init__(self, configuration: ApplicationConfig | None):
         if not configuration:
             return
 
+        for plan_stub in DEFAULT_PLAN_STUBS:
+            self.register_plan(plan_stub)
+
         if configuration.numtracker is not None:
             # The numtracker client itself is wired up by the service, see
             # blueapi.service.interface.context
@@ -196,7 +206,7 @@ def find_device(self, addr: str | list[str]) -> Device | None:
 
     def with_config(self, config: EnvironmentConfig) -> None:
         if config.metadata is not None:
-            self.run_engine.md |= config.metadata.model_dump()
+            self.run_engine.md.update(config.metadata.model_dump())
 
         package_map = metadata.packages_distributions()
         packages = {src.module.split(".")[0] for src in config.sources}

src/blueapi/service/interface.py

@@ -6,9 +6,10 @@
 from multiprocessing.connection import Connection
 from typing import Any
 
-from bluesky.callbacks.tiled_writer import TiledWriter
+from bluesky.run_engine import RunEngineMetadata
 from bluesky_stomp.messaging import StompClient
 from bluesky_stomp.models import Broker, DestinationBase, MessageTopic
+from bluesky_tiled_plugins import TiledWriter
 from fastapi import status
 from tiled.client import from_uri
 from tiled.client.utils import ClientError
@@ -63,7 +64,7 @@ def context() -> BlueskyContext:
     ctx = BlueskyContext(config())
     if (nt_conf := config().numtracker) is not None and (nt := numtracker()):
 
-        async def _update_scan_num(md: dict[str, Any]) -> int:
+        async def _update_scan_num(md: RunEngineMetadata) -> int:
             scan = await nt.create_scan(md["instrument_session"], md["instrument"])
             md["data_session_directory"] = str(scan.scan.directory.path)
             md["detector_file_template"] = nt_conf.detector_file_template

tests/system_tests/config.yaml

@@ -8,8 +8,6 @@ env:
       module: dodal.beamlines.adsim
     - kind: planFunctions
       module: dodal.plans
-    - kind: planFunctions
-      module: dodal.plan_stubs.wrapped
 stomp:
   enabled: true
   url: tcp://localhost:61613/