Create a full plan to replace `execute_request` in GDA

[DominicOram]

Following https://github.com/DiamondLightSource/mx-bluesky/issues/202 it should be possible to call hyperion once per ECR in the execute_request method in HCR. Note that this isn't necessarily once per sample as different ECRs may be for the same sample (most commonly for recipes collected at multiple chis).

This single plan should do the following, with one call from GDA with all the required params:

1. Load the sample (making sure not to reload if the sample is already loaded see https://github.com/DiamondLightSource/mx-bluesky/issues/240)
2. Move to the specified chi/phi
3. Centre the sample (optically then XRC)
4. If XRC gives no diffraction stop
5. Move to the centre provided by XRC and do a collection

Acceptance Criteria

• There is a single plan that does all of the above