Wrap plans and plan stubs with dictionaries

src/dodal/plan_stubs/__init__.py

@@ -1,3 +1,21 @@
-from .wrapped import move, move_relative, set_absolute, set_relative, sleep, wait
+from .wrapped import (
+    move,
+    move_relative,
+    rd,
+    set_absolute,
+    set_relative,
+    sleep,
+    stop,
+    wait,
+)
 
-__all__ = ["move", "move_relative", "set_absolute", "set_relative", "sleep", "wait"]
+__all__ = [
+    "move",
+    "move_relative",
+    "rd",
+    "set_absolute",
+    "set_relative",
+    "sleep",
+    "stop",
+    "wait",
+]

src/dodal/plan_stubs/wrapped.py

@@ -3,7 +3,7 @@
 from typing import Annotated, TypeVar
 
 import bluesky.plan_stubs as bps
-from bluesky.protocols import Movable
+from bluesky.protocols import Movable, Readable, Stoppable
 from bluesky.utils import MsgGenerator
 
 """
@@ -16,7 +16,7 @@
 
 
 def set_absolute(
-    movable: Movable[T], value: T, group: Group | None = None, wait: bool = False
+    movable: Movable[T], value: T, group: Group | None = None, wait: bool = True
 ) -> MsgGenerator:
     """
     Set a device, wrapper for `bp.abs_set`.
@@ -27,7 +27,7 @@ def set_absolute(
         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.
+                               (e.g. a motor has finished moving). Defaults to True.
 
     Returns:
         MsgGenerator: Plan
@@ -39,7 +39,7 @@ def set_absolute(
 
 
 def set_relative(
-    movable: Movable[T], value: T, group: Group | None = None, wait: bool = False
+    movable: Movable[T], value: T, group: Group | None = None, wait: bool = True
 ) -> MsgGenerator:
     """
     Change a device, wrapper for `bp.rel_set`.
@@ -50,7 +50,7 @@ def set_relative(
         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.
+                               (e.g. a motor has finished moving). Defaults to True.
 
     Returns:
         MsgGenerator: Plan
@@ -146,3 +146,27 @@ def wait(
     """
 
     return (yield from bps.wait(group, timeout=timeout))
+
+
+def rd(readable: Readable) -> MsgGenerator:
+    """Reads a single-value non-triggered object, wrapper for `bp.rd`.
+
+    Args:
+        readable (Readable): The device to be read
+
+    Returns:
+        Iterator[MsgGenerator]: Bluesky messages
+    """
+    return (yield from bps.rd(readable))
+
+
+def stop(stoppable: Stoppable) -> MsgGenerator:
+    """Stop a device, wrapper for `bp.stop`.
+
+    Args:
+        stoppable (Stoppable): Device to be stopped
+
+    Returns:
+        Iterator[MsgGenerator]: Bluesky messages
+    """
+    return (yield from bps.stop(stoppable))

src/dodal/plans/__init__.py

@@ -1,4 +1,33 @@
 from .spec_path import spec_scan
-from .wrapped import count
+from .wrapped import (
+    count,
+    list_grid_rscan,
+    list_grid_scan,
+    list_rscan,
+    list_scan,
+    num_grid_rscan,
+    num_grid_scan,
+    num_rscan,
+    num_scan,
+    step_grid_rscan,
+    step_grid_scan,
+    step_rscan,
+    step_scan,
+)
 
-__all__ = ["count", "spec_scan"]
+__all__ = [
+    "count",
+    "list_grid_rscan",
+    "list_grid_scan",
+    "list_rscan",
+    "list_scan",
+    "num_grid_rscan",
+    "num_grid_scan",
+    "num_rscan",
+    "num_scan",
+    "spec_scan",
+    "step_grid_rscan",
+    "step_grid_scan",
+    "step_rscan",
+    "step_scan",
+]