From 6fdea74dab3060eaf6b5acfac888e3dfa95e5f86 Mon Sep 17 00:00:00 2001
From: "Ware, Joseph (DLSLtd,RAL,LSCI)" <joseph.ware@diamond.ac.uk>
Date: Thu, 12 Oct 2023 13:57:34 +0100
Subject: [PATCH 01/30] Move util functions from i22 branch of ophyd_async that
 may be generally useful

---
 pyproject.toml                            |  1 +
 src/dls_bluesky_core/core/__init__.py     | 11 +++++-
 src/dls_bluesky_core/core/coordination.py | 14 +++++++
 src/dls_bluesky_core/core/maths.py        | 47 +++++++++++++++++++++++
 src/dls_bluesky_core/core/scanspecs.py    | 32 +++++++++++++++
 src/dls_bluesky_core/core/types.py        |  5 ++-
 6 files changed, 108 insertions(+), 2 deletions(-)
 create mode 100644 src/dls_bluesky_core/core/coordination.py
 create mode 100644 src/dls_bluesky_core/core/maths.py
 create mode 100644 src/dls_bluesky_core/core/scanspecs.py

diff --git a/pyproject.toml b/pyproject.toml
index fdbbb69..c5cf953 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -15,6 +15,7 @@ description = "Common Diamond specific Bluesky plans and functions"
 dependencies = [
     "blueapi",
     "ophyd",
+    "ophyd_async",
     "scanspec"
 ] # Add project dependencies here, e.g. ["click", "numpy"]
 dynamic = ["version"]
diff --git a/src/dls_bluesky_core/core/__init__.py b/src/dls_bluesky_core/core/__init__.py
index dc48890..6ae23f0 100644
--- a/src/dls_bluesky_core/core/__init__.py
+++ b/src/dls_bluesky_core/core/__init__.py
@@ -1,6 +1,15 @@
-from .types import MsgGenerator, PlanGenerator
+from .coordination import group_uuid
+from .maths import step_to_num, in_micros
+from .scanspecs import get_duration
+from .types import MsgGenerator, PlanGenerator, ScanAxis
+
 
 __all__ = [
+    "get_duration",
+    "group_uuid",
+    "in_micros",
     "MsgGenerator",
     "PlanGenerator",
+    "ScanAxis",
+    "step_to_num"
 ]
diff --git a/src/dls_bluesky_core/core/coordination.py b/src/dls_bluesky_core/core/coordination.py
new file mode 100644
index 0000000..1a94742
--- /dev/null
+++ b/src/dls_bluesky_core/core/coordination.py
@@ -0,0 +1,14 @@
+import uuid
+
+
+def group_uuid(name: str) -> str:
+    """
+    Returns a unique but human-readable string, to assist debugging orchestrated groups.
+
+    Args:
+        name (str): A human readable name
+
+    Returns:
+        readable_uid (str): name appended with a unique string
+    """
+    return f"{name}-{str(uuid.uuid4())[:6]}"
diff --git a/src/dls_bluesky_core/core/maths.py b/src/dls_bluesky_core/core/maths.py
new file mode 100644
index 0000000..6f65d9d
--- /dev/null
+++ b/src/dls_bluesky_core/core/maths.py
@@ -0,0 +1,47 @@
+from typing import Tuple
+
+import numpy as np
+
+
+def step_to_num(start: float, stop: float, step: float) -> Tuple[float, float, int]:
+    """
+    Standard handling for converting from start, stop, step to start, stop, num
+    Forces step to be same direction as length
+    Includes a final point if it is within 1% of the end point (consistent with GDA)
+
+    Args:
+        start (float):
+            Start of length, will be returned unchanged
+        stop (float):
+            End of length, if length/step does not divide cleanly will be returned
+            extended up to 1% of step, or else truncated.
+        step (float):
+            Length of a step along the line formed from start to stop.
+            If stop < start, will be coerced to be backwards.
+
+    Returns:
+        start, truncated_stop, num = Tuple[float, float, int]
+        start will be returned unchanged
+        truncated_stop = start + num * step
+        num is the maximal number of steps that could fit into the length.
+
+    """
+    # Make step be the right direction
+    step = abs(step) if stop > start else -abs(step)
+    # If stop is within 1% of a step then include it
+    num = int((stop - start) / step + 0.01)
+    return start, start + num * step, num
+
+
+def in_micros(t: float) -> int:
+    """
+    Converts between units of microT and units of T.
+    For example, from microseconds to seconds.
+
+    Args:
+        t (float): A time in microseconds, or other measurement in units of microU
+    Returns:
+        t (int): A time in seconds rounded up to the nearest whole second,
+        or other measurement in units of U, rounded up to the nearest whole U.
+    """
+    return np.ceil(t / 1e6)
diff --git a/src/dls_bluesky_core/core/scanspecs.py b/src/dls_bluesky_core/core/scanspecs.py
new file mode 100644
index 0000000..99b1c7e
--- /dev/null
+++ b/src/dls_bluesky_core/core/scanspecs.py
@@ -0,0 +1,32 @@
+from typing import List, Optional
+
+import numpy as np
+from scanspec.core import Frames
+from scanspec.specs import DURATION
+
+
+def get_duration(frames: List[Frames]) -> Optional[float]:
+    """
+    Returns the duration of a number of ScanSpec frames, if known and consistent.
+
+    Args:
+        frames (List[Frames]): A number of Frame objects
+
+    Raises:
+        ValueError: If any frames do not have a Duration defined.
+
+    Returns:
+        duration (float): if all frames have a consistent duration
+        None: otherwise
+
+    """
+    for fs in frames:
+        if DURATION in fs.axes():
+            durations = fs.midpoints[DURATION]
+            first_duration = durations[0]
+            if np.all(durations == first_duration):
+                # Constant duration, return it
+                return first_duration
+            else:
+                return None
+    raise ValueError("Duration not specified in Spec")
diff --git a/src/dls_bluesky_core/core/types.py b/src/dls_bluesky_core/core/types.py
index 600310e..3f96214 100644
--- a/src/dls_bluesky_core/core/types.py
+++ b/src/dls_bluesky_core/core/types.py
@@ -1,8 +1,11 @@
-from typing import Any, Callable, Generator
+from typing import Any, Callable, Generator, Union
 
 from bluesky import Msg
+from ophyd_async.core import Device
+from scanspec.specs import DURATION
 
 #  'A true "plan", usually the output of a generator function'
 MsgGenerator = Generator[Msg, Any, None]
 #  'A function that generates a plan'
 PlanGenerator = Callable[..., MsgGenerator]
+ScanAxis = Union[Device, DURATION]

From 7c2724b5176ee7d251840a9c29ce08cdb2bd032a Mon Sep 17 00:00:00 2001
From: "Ware, Joseph (DLSLtd,RAL,LSCI)" <joseph.ware@diamond.ac.uk>
Date: Thu, 12 Oct 2023 16:15:52 +0100
Subject: [PATCH 02/30] Add tests to boost test coverage back up

---
 tests/core/test_funcs.py | 30 ++++++++++++++++++++++++++++++
 1 file changed, 30 insertions(+)
 create mode 100644 tests/core/test_funcs.py

diff --git a/tests/core/test_funcs.py b/tests/core/test_funcs.py
new file mode 100644
index 0000000..6105bd5
--- /dev/null
+++ b/tests/core/test_funcs.py
@@ -0,0 +1,30 @@
+from typing import Optional
+
+import pytest
+
+from dls_bluesky_core.core import in_micros, step_to_num
+
+
+@pytest.mark.parametrize("us,s", [(4_000_001, 5), (4_999_999, 5), (4_000, 1),
+                                  (-4_000_001, -4), (-4_999_999, -4), (-4_000, 0),
+                                  (4_000_000.1, 5), (4_999_999.9, 5), (0.1, 1),
+                                  (-4_000_000.5, -4), (-4_999_999.9, -4), (-4.05, 0)])
+def test_in_micros(us: float, s: int):
+    assert in_micros(us) is s
+
+
+@pytest.mark.parametrize("start,stop,step,expected_num,truncated_stop",
+                         [(0, 0, 1, 1, None),  # start=stop, 1 point at start
+                          (0, 0.5, 1, 1, 0),  # step>length, 1 point at start
+                          (0, 1, 1, 2, None),  # stop=start+step, 1 point at start, 1 at stop
+                          (0, 0.99, 1, 2, 1),  # stop >= start + 0.99*step, included
+                          (0, 0.98, 1, 1, 0),  # stop < start + 0.99*step, not included
+                          (0, 1.01, 1, 2, 1),  # stop >= start + 0.99*step, included
+                          (0, 1.75, 0.25, 8, 1.75)
+                          ])
+def test_step_to_num(start: float, stop: float, step: float, expected_num: int, truncated_stop: Optional[float]):
+    truncated_stop = stop if truncated_stop is None else truncated_stop
+    actual_start, actual_stop, num = step_to_num(start, stop, step)
+    assert actual_start == start
+    assert actual_stop == truncated_stop
+    assert num == expected_num

From d6f48fa3a3a328fc675326238c35c875490bbb3f Mon Sep 17 00:00:00 2001
From: "Ware, Joseph (DLSLtd,RAL,LSCI)" <joseph.ware@diamond.ac.uk>
Date: Thu, 12 Oct 2023 16:16:07 +0100
Subject: [PATCH 03/30] Changes to step_to_num to match expected behaviour

---
 src/dls_bluesky_core/core/maths.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/dls_bluesky_core/core/maths.py b/src/dls_bluesky_core/core/maths.py
index 6f65d9d..3b21bc6 100644
--- a/src/dls_bluesky_core/core/maths.py
+++ b/src/dls_bluesky_core/core/maths.py
@@ -27,10 +27,10 @@ def step_to_num(start: float, stop: float, step: float) -> Tuple[float, float, i
 
     """
     # Make step be the right direction
-    step = abs(step) if stop > start else -abs(step)
+    step = abs(step) if stop >= start else -abs(step)
     # If stop is within 1% of a step then include it
-    num = int((stop - start) / step + 0.01)
-    return start, start + num * step, num
+    steps = int((stop - start) / step + 0.01)
+    return start, start + steps * step, steps + 1  # include 1st point
 
 
 def in_micros(t: float) -> int:
@@ -44,4 +44,4 @@ def in_micros(t: float) -> int:
         t (int): A time in seconds rounded up to the nearest whole second,
         or other measurement in units of U, rounded up to the nearest whole U.
     """
-    return np.ceil(t / 1e6)
+    return int(np.ceil(t / 1e6))

From 1724ede24c0fadbd06f6d7690cebe616ff61d056 Mon Sep 17 00:00:00 2001
From: "Ware, Joseph (DLSLtd,RAL,LSCI)" <joseph.ware@diamond.ac.uk>
Date: Thu, 12 Oct 2023 16:23:29 +0100
Subject: [PATCH 04/30] Update tests checking Annotations

---
 tests/plans/test_compliance.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tests/plans/test_compliance.py b/tests/plans/test_compliance.py
index 7c887ee..078545a 100644
--- a/tests/plans/test_compliance.py
+++ b/tests/plans/test_compliance.py
@@ -9,7 +9,7 @@
 
 def is_bluesky_plan_generator(func: Any) -> bool:
     try:
-        return get_type_hints(func).get("return") is MsgGenerator
+        return get_type_hints(func).get("return") == MsgGenerator
     except TypeError:
         # get_type_hints fails on some objects (such as Union or Optional)
         return False
@@ -45,7 +45,7 @@ def assert_metadata_requirements(plan: PlanGenerator, signature: inspect.Signatu
     ), f"'{plan.__name__}' does not allow metadata"
     metadata = signature.parameters["metadata"]
     assert (
-        metadata.annotation is Optional[Mapping[str, Any]]
+        metadata.annotation == Optional[Mapping[str, Any]]
         and metadata.default is not inspect.Parameter.empty
     ), f"'{plan.__name__}' metadata is not optional"
     assert metadata.default is None, f"'{plan.__name__}' metadata default is mutable"

From ec2c2dc0f72b1bb7afcdcd7a6af17265c06b94ba Mon Sep 17 00:00:00 2001
From: "Ware, Joseph (DLSLtd,RAL,LSCI)" <joseph.ware@diamond.ac.uk>
Date: Thu, 12 Oct 2023 16:27:17 +0100
Subject: [PATCH 05/30] Linting

---
 src/dls_bluesky_core/core/__init__.py |  5 ++-
 tests/core/test_funcs.py              | 50 +++++++++++++++++++--------
 2 files changed, 38 insertions(+), 17 deletions(-)

diff --git a/src/dls_bluesky_core/core/__init__.py b/src/dls_bluesky_core/core/__init__.py
index 6ae23f0..4f7e36c 100644
--- a/src/dls_bluesky_core/core/__init__.py
+++ b/src/dls_bluesky_core/core/__init__.py
@@ -1,9 +1,8 @@
 from .coordination import group_uuid
-from .maths import step_to_num, in_micros
+from .maths import in_micros, step_to_num
 from .scanspecs import get_duration
 from .types import MsgGenerator, PlanGenerator, ScanAxis
 
-
 __all__ = [
     "get_duration",
     "group_uuid",
@@ -11,5 +10,5 @@
     "MsgGenerator",
     "PlanGenerator",
     "ScanAxis",
-    "step_to_num"
+    "step_to_num",
 ]
diff --git a/tests/core/test_funcs.py b/tests/core/test_funcs.py
index 6105bd5..3aed11e 100644
--- a/tests/core/test_funcs.py
+++ b/tests/core/test_funcs.py
@@ -5,24 +5,46 @@
 from dls_bluesky_core.core import in_micros, step_to_num
 
 
-@pytest.mark.parametrize("us,s", [(4_000_001, 5), (4_999_999, 5), (4_000, 1),
-                                  (-4_000_001, -4), (-4_999_999, -4), (-4_000, 0),
-                                  (4_000_000.1, 5), (4_999_999.9, 5), (0.1, 1),
-                                  (-4_000_000.5, -4), (-4_999_999.9, -4), (-4.05, 0)])
+@pytest.mark.parametrize(
+    "us,s",
+    [
+        (4_000_001, 5),
+        (4_999_999, 5),
+        (4_000, 1),
+        (-4_000_001, -4),
+        (-4_999_999, -4),
+        (-4_000, 0),
+        (4_000_000.1, 5),
+        (4_999_999.9, 5),
+        (0.1, 1),
+        (-4_000_000.5, -4),
+        (-4_999_999.9, -4),
+        (-4.05, 0),
+    ],
+)
 def test_in_micros(us: float, s: int):
     assert in_micros(us) is s
 
 
-@pytest.mark.parametrize("start,stop,step,expected_num,truncated_stop",
-                         [(0, 0, 1, 1, None),  # start=stop, 1 point at start
-                          (0, 0.5, 1, 1, 0),  # step>length, 1 point at start
-                          (0, 1, 1, 2, None),  # stop=start+step, 1 point at start, 1 at stop
-                          (0, 0.99, 1, 2, 1),  # stop >= start + 0.99*step, included
-                          (0, 0.98, 1, 1, 0),  # stop < start + 0.99*step, not included
-                          (0, 1.01, 1, 2, 1),  # stop >= start + 0.99*step, included
-                          (0, 1.75, 0.25, 8, 1.75)
-                          ])
-def test_step_to_num(start: float, stop: float, step: float, expected_num: int, truncated_stop: Optional[float]):
+@pytest.mark.parametrize(
+    "start,stop,step,expected_num,truncated_stop",
+    [
+        (0, 0, 1, 1, None),  # start=stop, 1 point at start
+        (0, 0.5, 1, 1, 0),  # step>length, 1 point at start
+        (0, 1, 1, 2, None),  # stop=start+step, point at start & stop
+        (0, 0.99, 1, 2, 1),  # stop >= start + 0.99*step, included
+        (0, 0.98, 1, 1, 0),  # stop < start + 0.99*step, not included
+        (0, 1.01, 1, 2, 1),  # stop >= start + 0.99*step, included
+        (0, 1.75, 0.25, 8, 1.75),
+    ],
+)
+def test_step_to_num(
+    start: float,
+    stop: float,
+    step: float,
+    expected_num: int,
+    truncated_stop: Optional[float],
+):
     truncated_stop = stop if truncated_stop is None else truncated_stop
     actual_start, actual_stop, num = step_to_num(start, stop, step)
     assert actual_start == start

From 7afeb2b48bbf2781e9cd8cd07638d5303d03c9dc Mon Sep 17 00:00:00 2001
From: "Ware, Joseph (DLSLtd,RAL,LSCI)" <joseph.ware@diamond.ac.uk>
Date: Thu, 12 Oct 2023 16:37:55 +0100
Subject: [PATCH 06/30] test for group_uuid

---
 tests/core/test_funcs.py | 17 ++++++++++++++++-
 1 file changed, 16 insertions(+), 1 deletion(-)

diff --git a/tests/core/test_funcs.py b/tests/core/test_funcs.py
index 3aed11e..a18a061 100644
--- a/tests/core/test_funcs.py
+++ b/tests/core/test_funcs.py
@@ -1,8 +1,9 @@
+import uuid
 from typing import Optional
 
 import pytest
 
-from dls_bluesky_core.core import in_micros, step_to_num
+from dls_bluesky_core.core import group_uuid, in_micros, step_to_num
 
 
 @pytest.mark.parametrize(
@@ -36,6 +37,13 @@ def test_in_micros(us: float, s: int):
         (0, 0.98, 1, 1, 0),  # stop < start + 0.99*step, not included
         (0, 1.01, 1, 2, 1),  # stop >= start + 0.99*step, included
         (0, 1.75, 0.25, 8, 1.75),
+        (0, 0, -1, 1, None),  # start=stop, 1 point at start
+        (0, 0.5, -1, 1, 0),  # abs(step)>length, 1 point at start
+        (0, -1, 1, 2, None),  # stop=start+-abs(step), point at start & stop
+        (0, -0.99, 1, 2, -1),  # stop >= start + 0.99*-abs(step), included
+        (0, -0.98, 1, 1, 0),  # stop < start + 0.99*-abs(step), not included
+        (0, -1.01, 1, 2, -1),  # stop >= start + 0.99*-abs(step), included
+        (0, -1.75, 0.25, 8, -1.75),
     ],
 )
 def test_step_to_num(
@@ -50,3 +58,10 @@ def test_step_to_num(
     assert actual_start == start
     assert actual_stop == truncated_stop
     assert num == expected_num
+
+
+@pytest.mark.parametrize("group", ["foo", "bar", "baz", str(uuid.uuid4())])
+def test_group_uid(group: str):
+    gid = group_uuid(group)
+    assert gid.startswith(f"{group}-")
+    assert not gid.endswith(f"{group}-")

From ced4b8f0bd0bb6a65c6a88f7d0e2952084135df8 Mon Sep 17 00:00:00 2001
From: "Ware, Joseph (DLSLtd,RAL,LSCI)" <joseph.ware@diamond.ac.uk>
Date: Fri, 13 Oct 2023 15:19:41 +0100
Subject: [PATCH 07/30] Move i22 generic plans (but do not expose to BlueAPI)

---
 pyproject.toml                         |  2 +-
 src/dls_bluesky_core/plans/scanspec.py | 83 +++++++++++++++++++++++++-
 src/dls_bluesky_core/stubs/flyables.py | 23 +++++++
 3 files changed, 104 insertions(+), 4 deletions(-)
 create mode 100644 src/dls_bluesky_core/stubs/flyables.py

diff --git a/pyproject.toml b/pyproject.toml
index c5cf953..263579c 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -15,7 +15,7 @@ description = "Common Diamond specific Bluesky plans and functions"
 dependencies = [
     "blueapi",
     "ophyd",
-    "ophyd_async",
+    "ophyd_async @ git+https://github.com/bluesky/ophyd-async.git@add-detector-logic",
     "scanspec"
 ] # Add project dependencies here, e.g. ["click", "numpy"]
 dynamic = ["version"]
diff --git a/src/dls_bluesky_core/plans/scanspec.py b/src/dls_bluesky_core/plans/scanspec.py
index 50ae0a1..e337b1a 100644
--- a/src/dls_bluesky_core/plans/scanspec.py
+++ b/src/dls_bluesky_core/plans/scanspec.py
@@ -1,13 +1,18 @@
 import operator
 from functools import reduce
-from typing import Any, List, Mapping, Optional
+from typing import Any, Dict, List, Mapping, Optional, Sequence
 
+import bluesky.plan_stubs as bps
 import bluesky.plans as bp
+import bluesky.preprocessors as bpp
 from bluesky.protocols import Movable, Readable
 from cycler import Cycler, cycler
-from scanspec.specs import Spec
+from ophyd_async.core import Device
+from ophyd_async.core.flyer import ScanSpecFlyable
+from scanspec.specs import Repeat, Spec
 
-from dls_bluesky_core.core import MsgGenerator
+from ..core import MsgGenerator
+from ..stubs.flyables import fly_and_collect
 
 """
 Plans related to the use of the `ScanSpec https://github.com/dls-controls/scanspec`
@@ -57,6 +62,78 @@ def scan(
     yield from bp.scan_nd(detectors, cycler, md=_md)
 
 
+def scanspec_fly(
+    flyer: ScanSpecFlyable,
+    hw_spec: Spec[ScanSpecFlyable],
+    sw_dets: Optional[Sequence[Device]] = None,
+    sw_spec: Optional[Spec[Device]] = None,
+    # TODO: How to allow in Blueapi REST call?
+    # TODO: Allow defining processors for @BeforeScan/@AfterScan equivalent logic?
+    # setup_detectors: Optional[Collection[Msg]] = None,
+    # flush_period: float = 0.5,  # TODO: Should we allow overriding default?
+    metadata: Optional[Dict[str, Any]] = None,
+) -> MsgGenerator:
+    """
+    TODO
+
+    Args:
+        flyer (ScanSpecFlyable):
+            A Flyable that traces the path of hw_spec Spec at every point of sw_spec.
+        hw_spec (Spec[Device]):
+            The 'inner scan' performed at each point of the outer scan.
+        sw_dets (Optional[Sequence[Device]]):
+            Any detectors to be triggered at every point of an outer scan.
+        sw_spec (Optional[Spec[Device]]):
+            The 'outer scan' trajectory to be followed by any non-flying motors.
+            Defaults to a one-shot no-op Spec.
+        # setup_detectors (Iterator[Msg]):
+            Any Msgs required to set up the detectors  # TODO: Make a pre-processor?
+        # flush_period (float):  # TODO: Allow non-default?
+            Timeout for calls to complete when the flyer is kicked off.
+        metadata (Optional[Dict[str, Any]]):
+            Key-value metadata to include in exported data, defaults to None.
+
+    Returns:
+        MsgGenerator: _description_
+
+    Yields:
+        Iterator[MsgGenerator]: _description_
+    """
+    sw_dets = sw_dets or []
+    sw_spec = sw_spec or Repeat()
+    detectors: Sequence[Device] = [flyer] + sw_dets
+    plan_args = {
+        "flyer": repr(flyer),
+        "hw_spec": repr(hw_spec),
+        "sw_dets": [repr(det) for det in sw_dets],
+        "sw_spec": repr(sw_spec),
+    }
+
+    _md = {
+        "plan_args": plan_args,
+        "detectors": [det.name for det in detectors],
+        "hints": {},  # TODO: Dimension hints from ScanSpec?
+    }
+    _md.update(metadata or {})
+
+    @bpp.stage_decorator(detectors)
+    @bpp.run_decorator(md=_md)
+    def hw_scanspec_fly() -> MsgGenerator:
+        # yield from setup_detectors
+        yield from bps.declare_stream(*sw_dets, name="sw")
+        yield from bps.declare_stream(flyer, name="hw")
+        for point in sw_spec.midpoints():
+            # Move flyer to start too
+            point[flyer] = hw_spec
+            # TODO: need to make pos_cache optional in this func
+            yield from bps.move_per_step(point, dict())
+            yield from bps.trigger_and_read(sw_dets)
+            yield from bps.checkpoint()
+            yield from fly_and_collect(flyer, checkpoint_every_collect=True)
+
+    return (yield from hw_scanspec_fly())
+
+
 def _scanspec_to_cycler(spec: Spec[str], axes: Mapping[str, Movable]) -> Cycler:
     """
     Convert a scanspec to a cycler for compatibility with legacy Bluesky plans such as
diff --git a/src/dls_bluesky_core/stubs/flyables.py b/src/dls_bluesky_core/stubs/flyables.py
new file mode 100644
index 0000000..d8758b2
--- /dev/null
+++ b/src/dls_bluesky_core/stubs/flyables.py
@@ -0,0 +1,23 @@
+import bluesky.plan_stubs as bps
+from bluesky.protocols import Flyable
+
+from dls_bluesky_core.core import MsgGenerator, group_uuid
+
+
+def fly_and_collect(
+    flyer: Flyable, flush_period: float = 0.5, checkpoint_every_collect: bool = False
+) -> MsgGenerator:
+    yield from bps.kickoff(flyer)
+    complete_group = group_uuid("complete")
+    yield from bps.complete(flyer, group=complete_group)
+    done = False
+    while not done:
+        try:
+            yield from bps.wait(group=complete_group, timeout=flush_period)
+        except TimeoutError:
+            pass
+        else:
+            done = True
+        yield from bps.collect(flyer, stream=True, return_payload=False)
+        if checkpoint_every_collect:
+            yield from bps.checkpoint()

From 2685a7d66865d358bd4ffc661010c3e9d2e3a389 Mon Sep 17 00:00:00 2001
From: "Ware, Joseph (DLSLtd,RAL,LSCI)" <joseph.ware@diamond.ac.uk>
Date: Fri, 13 Oct 2023 15:39:02 +0100
Subject: [PATCH 08/30] Inverse in_micros logic to actually convert to micros

---
 src/dls_bluesky_core/core/maths.py | 12 ++++++------
 tests/core/test_funcs.py           | 31 +++++++++++++++---------------
 2 files changed, 22 insertions(+), 21 deletions(-)

diff --git a/src/dls_bluesky_core/core/maths.py b/src/dls_bluesky_core/core/maths.py
index 3b21bc6..ccfc7d6 100644
--- a/src/dls_bluesky_core/core/maths.py
+++ b/src/dls_bluesky_core/core/maths.py
@@ -35,13 +35,13 @@ def step_to_num(start: float, stop: float, step: float) -> Tuple[float, float, i
 
 def in_micros(t: float) -> int:
     """
-    Converts between units of microT and units of T.
-    For example, from microseconds to seconds.
+    Converts between units of T and units of microT.
+    For example, from seconds to microseconds.
 
     Args:
-        t (float): A time in microseconds, or other measurement in units of microU
+        t (float): A time in seconds, or other measurement in units of U
     Returns:
-        t (int): A time in seconds rounded up to the nearest whole second,
-        or other measurement in units of U, rounded up to the nearest whole U.
+        t (int): A time in microseconds, rounded up to the nearest whole microsecond,
+        or other measurement in units of microU, rounded up to the nearest whole microU.
     """
-    return int(np.ceil(t / 1e6))
+    return int(np.ceil(t * 1e6))
diff --git a/tests/core/test_funcs.py b/tests/core/test_funcs.py
index a18a061..6855f6e 100644
--- a/tests/core/test_funcs.py
+++ b/tests/core/test_funcs.py
@@ -7,24 +7,25 @@
 
 
 @pytest.mark.parametrize(
-    "us,s",
+    "s,us",
     [
-        (4_000_001, 5),
-        (4_999_999, 5),
-        (4_000, 1),
-        (-4_000_001, -4),
-        (-4_999_999, -4),
-        (-4_000, 0),
-        (4_000_000.1, 5),
-        (4_999_999.9, 5),
-        (0.1, 1),
-        (-4_000_000.5, -4),
-        (-4_999_999.9, -4),
-        (-4.05, 0),
+        (4.000_001, 4_000_001),
+        (4.999_999, 4_999_999),
+        (4, 4_000_000),
+        (-4.000_001, -4_000_001),
+        (-4.999_999, -4_999_999),
+        (-4, -4_000_000),
+        (4.000_000_1, 4_000_001),
+        (4.999_999_9, 5_000_000),
+        (0.1, 100_000),
+        (0.000_000_1, 1),
+        (-4.000_000_5, -4_000_000),
+        (-4.999_999_9, -4_999_999),
+        (-4.05, -4_050_000),
     ],
 )
-def test_in_micros(us: float, s: int):
-    assert in_micros(us) is s
+def test_in_micros(s: float, us: int):
+    assert in_micros(s) == us
 
 
 @pytest.mark.parametrize(

From b9ed5a7cb2682f77aec016f6fefe4f8a265e30d7 Mon Sep 17 00:00:00 2001
From: "Ware, Joseph (DLSLtd,RAL,LSCI)" <joseph.ware@diamond.ac.uk>
Date: Mon, 16 Oct 2023 10:47:39 +0100
Subject: [PATCH 09/30] Respond to review comments:

- get_constant_duration renamed to be clearer intended function, always return None instead of throwing
- in_micros to throw exception when working in negative time
- Add tests for intended behaviour of get_constant_duration
---
 src/dls_bluesky_core/core/__init__.py  |  4 +-
 src/dls_bluesky_core/core/maths.py     |  4 ++
 src/dls_bluesky_core/core/scanspecs.py | 29 ++++++-------
 tests/core/test_funcs.py               | 15 ++++---
 tests/core/test_scanspecs.py           | 58 ++++++++++++++++++++++++++
 5 files changed, 88 insertions(+), 22 deletions(-)
 create mode 100644 tests/core/test_scanspecs.py

diff --git a/src/dls_bluesky_core/core/__init__.py b/src/dls_bluesky_core/core/__init__.py
index 4f7e36c..dff8856 100644
--- a/src/dls_bluesky_core/core/__init__.py
+++ b/src/dls_bluesky_core/core/__init__.py
@@ -1,10 +1,10 @@
 from .coordination import group_uuid
 from .maths import in_micros, step_to_num
-from .scanspecs import get_duration
+from .scanspecs import get_constant_duration
 from .types import MsgGenerator, PlanGenerator, ScanAxis
 
 __all__ = [
-    "get_duration",
+    "get_constant_duration",
     "group_uuid",
     "in_micros",
     "MsgGenerator",
diff --git a/src/dls_bluesky_core/core/maths.py b/src/dls_bluesky_core/core/maths.py
index ccfc7d6..b73bc31 100644
--- a/src/dls_bluesky_core/core/maths.py
+++ b/src/dls_bluesky_core/core/maths.py
@@ -40,8 +40,12 @@ def in_micros(t: float) -> int:
 
     Args:
         t (float): A time in seconds, or other measurement in units of U
+    Raises:
+        ValueError: if t < 0
     Returns:
         t (int): A time in microseconds, rounded up to the nearest whole microsecond,
         or other measurement in units of microU, rounded up to the nearest whole microU.
     """
+    if t < 0:
+        raise ValueError
     return int(np.ceil(t * 1e6))
diff --git a/src/dls_bluesky_core/core/scanspecs.py b/src/dls_bluesky_core/core/scanspecs.py
index 99b1c7e..1333a0b 100644
--- a/src/dls_bluesky_core/core/scanspecs.py
+++ b/src/dls_bluesky_core/core/scanspecs.py
@@ -5,28 +5,29 @@
 from scanspec.specs import DURATION
 
 
-def get_duration(frames: List[Frames]) -> Optional[float]:
+def get_constant_duration(frames: List[Frames]) -> Optional[float]:
     """
     Returns the duration of a number of ScanSpec frames, if known and consistent.
 
     Args:
         frames (List[Frames]): A number of Frame objects
 
-    Raises:
-        ValueError: If any frames do not have a Duration defined.
-
     Returns:
         duration (float): if all frames have a consistent duration
         None: otherwise
 
     """
-    for fs in frames:
-        if DURATION in fs.axes():
-            durations = fs.midpoints[DURATION]
-            first_duration = durations[0]
-            if np.all(durations == first_duration):
-                # Constant duration, return it
-                return first_duration
-            else:
-                return None
-    raise ValueError("Duration not specified in Spec")
+    duration_frame = [
+        f for f in frames if DURATION in f.axes() and len(f.midpoints[DURATION])
+    ]
+    if len(duration_frame) != 1:
+        # Either no frame has DURATION axis,
+        #   the frame with a DURATION axis has 0 points,
+        #   or multiple frames have DURATION axis
+        return None
+    durations = duration_frame[0].midpoints[DURATION]
+    first_duration = durations[0]
+    if np.any(durations != first_duration):
+        # Not all durations are the same
+        return None
+    return first_duration
diff --git a/tests/core/test_funcs.py b/tests/core/test_funcs.py
index 6855f6e..83416c0 100644
--- a/tests/core/test_funcs.py
+++ b/tests/core/test_funcs.py
@@ -12,22 +12,25 @@
         (4.000_001, 4_000_001),
         (4.999_999, 4_999_999),
         (4, 4_000_000),
-        (-4.000_001, -4_000_001),
-        (-4.999_999, -4_999_999),
-        (-4, -4_000_000),
         (4.000_000_1, 4_000_001),
         (4.999_999_9, 5_000_000),
         (0.1, 100_000),
         (0.000_000_1, 1),
-        (-4.000_000_5, -4_000_000),
-        (-4.999_999_9, -4_999_999),
-        (-4.05, -4_050_000),
+        (0, 0),
     ],
 )
 def test_in_micros(s: float, us: int):
     assert in_micros(s) == us
 
 
+@pytest.mark.parametrize(
+    "s", [-4.000_001, -4.999_999, -4, -4.000_000_5, -4.999_999_9, -4.05]
+)
+def test_in_micros_negative(s: float):
+    with pytest.raises(ValueError):
+        in_micros(s)
+
+
 @pytest.mark.parametrize(
     "start,stop,step,expected_num,truncated_stop",
     [
diff --git a/tests/core/test_scanspecs.py b/tests/core/test_scanspecs.py
new file mode 100644
index 0000000..c4e8257
--- /dev/null
+++ b/tests/core/test_scanspecs.py
@@ -0,0 +1,58 @@
+import re
+
+import pytest
+from scanspec.specs import DURATION, Line, Static
+
+from dls_bluesky_core.core.scanspecs import get_constant_duration
+
+
+def test_single_frame_single_point():
+    spec = Static.duration(0.1)
+    assert get_constant_duration(spec.calculate()) == 0.1
+
+
+def test_consistent_points():
+    spec = Static.duration(0.1).concat(Static.duration(0.1))
+    assert get_constant_duration(spec.calculate()) == 0.1
+
+
+def test_inconsistent_points():
+    spec = Static.duration(0.1).concat(Static.duration(0.2))
+    assert get_constant_duration(spec.calculate()) is None
+
+
+def test_frame_with_multiple_axes():
+    spec = Static.duration(0.1).zip(Line.bounded("x", 0, 0, 1))
+    frames = spec.calculate()
+    assert len(frames) == 1
+    assert get_constant_duration(frames) == 0.1
+
+
+def test_inconsistent_frame_with_multiple_axes():
+    spec = (
+        Static.duration(0.1)
+        .concat(Static.duration(0.2))
+        .zip(Line.bounded("x", 0, 0, 2))
+    )
+    frames = spec.calculate()
+    assert len(frames) == 1
+    assert get_constant_duration(frames) is None
+
+
+def test_non_static_spec_duration():
+    spec = Line.bounded(DURATION, 0, 0, 3)
+    frames = spec.calculate()
+    assert len(frames) == 1
+    assert get_constant_duration(frames) == 0
+
+
+def test_multiple_duration_frames():
+    spec = (
+        Static.duration(0.1)
+        .concat(Static.duration(0.2))
+        .zip(Line.bounded(DURATION, 0, 0, 2))
+    )
+    with pytest.raises(
+        AssertionError, match=re.escape("Zipping would overwrite axes ['DURATION']")
+    ):
+        spec.calculate()

From 8ca1a02ae4fe4e986e799e0fc41697825fd6bed8 Mon Sep 17 00:00:00 2001
From: "Ware, Joseph (DLSLtd,RAL,LSCI)" <joseph.ware@diamond.ac.uk>
Date: Mon, 16 Oct 2023 11:02:13 +0100
Subject: [PATCH 10/30] Handle Spec Product not raising on multiple Frames in
 axis

---
 tests/core/test_scanspecs.py | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/tests/core/test_scanspecs.py b/tests/core/test_scanspecs.py
index c4e8257..4a8c8cc 100644
--- a/tests/core/test_scanspecs.py
+++ b/tests/core/test_scanspecs.py
@@ -56,3 +56,9 @@ def test_multiple_duration_frames():
         AssertionError, match=re.escape("Zipping would overwrite axes ['DURATION']")
     ):
         spec.calculate()
+    spec = (  # TODO: refactor when https://github.com/dls-controls/scanspec/issues/90
+        Static.duration(0.1) * Line.bounded(DURATION, 0, 0, 2)
+    )
+    frames = spec.calculate()
+    assert len(frames) == 2
+    assert get_constant_duration(frames) is None

From c88725554619f1f1a35d62f505695a96f40a1f8e Mon Sep 17 00:00:00 2001
From: "Ware, Joseph (DLSLtd,RAL,LSCI)" <joseph.ware@diamond.ac.uk>
Date: Mon, 16 Oct 2023 11:09:16 +0100
Subject: [PATCH 11/30] Remove scanspec_fly until ScanSpecFlyable is recreated

---
 src/dls_bluesky_core/plans/scanspec.py | 81 +-------------------------
 1 file changed, 2 insertions(+), 79 deletions(-)

diff --git a/src/dls_bluesky_core/plans/scanspec.py b/src/dls_bluesky_core/plans/scanspec.py
index e337b1a..327ea73 100644
--- a/src/dls_bluesky_core/plans/scanspec.py
+++ b/src/dls_bluesky_core/plans/scanspec.py
@@ -1,18 +1,13 @@
 import operator
 from functools import reduce
-from typing import Any, Dict, List, Mapping, Optional, Sequence
+from typing import Any, List, Mapping, Optional
 
-import bluesky.plan_stubs as bps
 import bluesky.plans as bp
-import bluesky.preprocessors as bpp
 from bluesky.protocols import Movable, Readable
 from cycler import Cycler, cycler
-from ophyd_async.core import Device
-from ophyd_async.core.flyer import ScanSpecFlyable
-from scanspec.specs import Repeat, Spec
+from scanspec.specs import Spec
 
 from ..core import MsgGenerator
-from ..stubs.flyables import fly_and_collect
 
 """
 Plans related to the use of the `ScanSpec https://github.com/dls-controls/scanspec`
@@ -62,78 +57,6 @@ def scan(
     yield from bp.scan_nd(detectors, cycler, md=_md)
 
 
-def scanspec_fly(
-    flyer: ScanSpecFlyable,
-    hw_spec: Spec[ScanSpecFlyable],
-    sw_dets: Optional[Sequence[Device]] = None,
-    sw_spec: Optional[Spec[Device]] = None,
-    # TODO: How to allow in Blueapi REST call?
-    # TODO: Allow defining processors for @BeforeScan/@AfterScan equivalent logic?
-    # setup_detectors: Optional[Collection[Msg]] = None,
-    # flush_period: float = 0.5,  # TODO: Should we allow overriding default?
-    metadata: Optional[Dict[str, Any]] = None,
-) -> MsgGenerator:
-    """
-    TODO
-
-    Args:
-        flyer (ScanSpecFlyable):
-            A Flyable that traces the path of hw_spec Spec at every point of sw_spec.
-        hw_spec (Spec[Device]):
-            The 'inner scan' performed at each point of the outer scan.
-        sw_dets (Optional[Sequence[Device]]):
-            Any detectors to be triggered at every point of an outer scan.
-        sw_spec (Optional[Spec[Device]]):
-            The 'outer scan' trajectory to be followed by any non-flying motors.
-            Defaults to a one-shot no-op Spec.
-        # setup_detectors (Iterator[Msg]):
-            Any Msgs required to set up the detectors  # TODO: Make a pre-processor?
-        # flush_period (float):  # TODO: Allow non-default?
-            Timeout for calls to complete when the flyer is kicked off.
-        metadata (Optional[Dict[str, Any]]):
-            Key-value metadata to include in exported data, defaults to None.
-
-    Returns:
-        MsgGenerator: _description_
-
-    Yields:
-        Iterator[MsgGenerator]: _description_
-    """
-    sw_dets = sw_dets or []
-    sw_spec = sw_spec or Repeat()
-    detectors: Sequence[Device] = [flyer] + sw_dets
-    plan_args = {
-        "flyer": repr(flyer),
-        "hw_spec": repr(hw_spec),
-        "sw_dets": [repr(det) for det in sw_dets],
-        "sw_spec": repr(sw_spec),
-    }
-
-    _md = {
-        "plan_args": plan_args,
-        "detectors": [det.name for det in detectors],
-        "hints": {},  # TODO: Dimension hints from ScanSpec?
-    }
-    _md.update(metadata or {})
-
-    @bpp.stage_decorator(detectors)
-    @bpp.run_decorator(md=_md)
-    def hw_scanspec_fly() -> MsgGenerator:
-        # yield from setup_detectors
-        yield from bps.declare_stream(*sw_dets, name="sw")
-        yield from bps.declare_stream(flyer, name="hw")
-        for point in sw_spec.midpoints():
-            # Move flyer to start too
-            point[flyer] = hw_spec
-            # TODO: need to make pos_cache optional in this func
-            yield from bps.move_per_step(point, dict())
-            yield from bps.trigger_and_read(sw_dets)
-            yield from bps.checkpoint()
-            yield from fly_and_collect(flyer, checkpoint_every_collect=True)
-
-    return (yield from hw_scanspec_fly())
-
-
 def _scanspec_to_cycler(spec: Spec[str], axes: Mapping[str, Movable]) -> Cycler:
     """
     Convert a scanspec to a cycler for compatibility with legacy Bluesky plans such as

From be17ffd14694c10d1a83478e30280a4251302c9f Mon Sep 17 00:00:00 2001
From: "Ware, Joseph (DLSLtd,RAL,LSCI)" <joseph.ware@diamond.ac.uk>
Date: Mon, 16 Oct 2023 11:17:45 +0100
Subject: [PATCH 12/30] Rename ScanAxis to ScannableAxis

---
 src/dls_bluesky_core/core/__init__.py | 4 ++--
 src/dls_bluesky_core/core/types.py    | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/dls_bluesky_core/core/__init__.py b/src/dls_bluesky_core/core/__init__.py
index dff8856..d945537 100644
--- a/src/dls_bluesky_core/core/__init__.py
+++ b/src/dls_bluesky_core/core/__init__.py
@@ -1,7 +1,7 @@
 from .coordination import group_uuid
 from .maths import in_micros, step_to_num
 from .scanspecs import get_constant_duration
-from .types import MsgGenerator, PlanGenerator, ScanAxis
+from .types import MsgGenerator, PlanGenerator, ScannableAxis
 
 __all__ = [
     "get_constant_duration",
@@ -9,6 +9,6 @@
     "in_micros",
     "MsgGenerator",
     "PlanGenerator",
-    "ScanAxis",
+    "ScannableAxis",
     "step_to_num",
 ]
diff --git a/src/dls_bluesky_core/core/types.py b/src/dls_bluesky_core/core/types.py
index 3f96214..86fda3d 100644
--- a/src/dls_bluesky_core/core/types.py
+++ b/src/dls_bluesky_core/core/types.py
@@ -8,4 +8,4 @@
 MsgGenerator = Generator[Msg, Any, None]
 #  'A function that generates a plan'
 PlanGenerator = Callable[..., MsgGenerator]
-ScanAxis = Union[Device, DURATION]
+ScannableAxis = Union[Device, DURATION]

From 994779f80b9d06913f9f805a0f44daa60b2f2b49 Mon Sep 17 00:00:00 2001
From: "Ware, Joseph (DLSLtd,RAL,LSCI)" <joseph.ware@diamond.ac.uk>
Date: Mon, 16 Oct 2023 11:19:26 +0100
Subject: [PATCH 13/30] Revert unrelated nothing change

---
 src/dls_bluesky_core/plans/scanspec.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/dls_bluesky_core/plans/scanspec.py b/src/dls_bluesky_core/plans/scanspec.py
index 327ea73..50ae0a1 100644
--- a/src/dls_bluesky_core/plans/scanspec.py
+++ b/src/dls_bluesky_core/plans/scanspec.py
@@ -7,7 +7,7 @@
 from cycler import Cycler, cycler
 from scanspec.specs import Spec
 
-from ..core import MsgGenerator
+from dls_bluesky_core.core import MsgGenerator
 
 """
 Plans related to the use of the `ScanSpec https://github.com/dls-controls/scanspec`

From 6ba15cfe4787d8a3a430b8ee96624a067d04a707 Mon Sep 17 00:00:00 2001
From: "Ware, Joseph (DLSLtd,RAL,LSCI)" <joseph.ware@diamond.ac.uk>
Date: Mon, 16 Oct 2023 11:27:03 +0100
Subject: [PATCH 14/30] Remove container build from CI as not application code

---
 .github/workflows/code.yml | 88 --------------------------------------
 1 file changed, 88 deletions(-)

diff --git a/.github/workflows/code.yml b/.github/workflows/code.yml
index 05a7952..b0b4de6 100644
--- a/.github/workflows/code.yml
+++ b/.github/workflows/code.yml
@@ -102,94 +102,6 @@ jobs:
         # If more than one module in src/ replace with module name to test
         run: python -m $(ls src | head -1) --version
 
-  container:
-    needs: [lint, dist, test]
-    runs-on: ubuntu-latest
-
-    permissions:
-      contents: read
-      packages: write
-
-    env:
-      TEST_TAG: "testing"
-
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v3
-
-      # image names must be all lower case
-      - name: Generate image repo name
-        run: echo IMAGE_REPOSITORY=ghcr.io/$(tr '[:upper:]' '[:lower:]' <<< "${{ github.repository }}") >> $GITHUB_ENV
-
-      - name: Download wheel and lockfiles
-        uses: actions/download-artifact@v3
-        with:
-          path: artifacts/
-
-      - name: Log in to GitHub Docker Registry
-        if: github.event_name != 'pull_request'
-        uses: docker/login-action@v2
-        with:
-          registry: ghcr.io
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Set up Docker Buildx
-        id: buildx
-        uses: docker/setup-buildx-action@v2
-
-      - name: Build and export to Docker local cache
-        uses: docker/build-push-action@v4
-        with:
-        # Note build-args, context, file, and target must all match between this
-        # step and the later build-push-action, otherwise the second build-push-action
-        # will attempt to build the image again
-          build-args: |
-            PIP_OPTIONS=-r lockfiles/requirements.txt dist/*.whl
-          context: artifacts/
-          file: ./Dockerfile
-          target: runtime
-          load: true
-          tags: ${{ env.TEST_TAG }}
-          # If you have a long docker build (2+ minutes), uncomment the 
-          # following to turn on caching. For short build times this 
-          # makes it a little slower
-          #cache-from: type=gha
-          #cache-to: type=gha,mode=max
-
-      - name: Test cli works in cached runtime image
-        run: docker run docker.io/library/${{ env.TEST_TAG }} --version
-
-      - name: Create tags for publishing image
-        id: meta
-        uses: docker/metadata-action@v4
-        with:
-          images: ${{ env.IMAGE_REPOSITORY }}
-          tags: |
-            type=ref,event=tag
-            type=raw,value=latest, enable=${{ github.ref_type == 'tag' }}
-          # type=edge,branch=main
-          # Add line above to generate image for every commit to given branch,
-          # and uncomment the end of if clause in next step
-
-      - name: Push cached image to container registry
-        if: github.ref_type == 'tag' # || github.ref_name == 'main'
-        uses: docker/build-push-action@v3
-        # This does not build the image again, it will find the image in the 
-        # Docker cache and publish it
-        with:
-        # Note build-args, context, file, and target must all match between this
-        # step and the previous build-push-action, otherwise this step will 
-        # attempt to build the image again
-          build-args: |
-            PIP_OPTIONS=-r lockfiles/requirements.txt dist/*.whl
-          context: artifacts/
-          file: ./Dockerfile
-          target: runtime
-          push: true
-          tags: ${{ steps.meta.outputs.tags }}
-          labels: ${{ steps.meta.outputs.labels }}
-
   release:
     # upload to PyPI and make a release on every tag
     needs: [lint, dist, test]

From d5d10f48bf4f030089858c3164ca20172a22a681 Mon Sep 17 00:00:00 2001
From: DiamondJoseph <53935796+DiamondJoseph@users.noreply.github.com>
Date: Mon, 16 Oct 2023 15:13:04 +0100
Subject: [PATCH 15/30] Update src/dls_bluesky_core/core/maths.py

---
 src/dls_bluesky_core/core/maths.py | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/src/dls_bluesky_core/core/maths.py b/src/dls_bluesky_core/core/maths.py
index b73bc31..aaa9ebb 100644
--- a/src/dls_bluesky_core/core/maths.py
+++ b/src/dls_bluesky_core/core/maths.py
@@ -35,16 +35,15 @@ def step_to_num(start: float, stop: float, step: float) -> Tuple[float, float, i
 
 def in_micros(t: float) -> int:
     """
-    Converts between units of T and units of microT.
-    For example, from seconds to microseconds.
+    Converts between a positive number of seconds and an equivalent 
+    number of microseconds.
 
     Args:
-        t (float): A time in seconds, or other measurement in units of U
+        t (float): A time in seconds
     Raises:
         ValueError: if t < 0
     Returns:
         t (int): A time in microseconds, rounded up to the nearest whole microsecond,
-        or other measurement in units of microU, rounded up to the nearest whole microU.
     """
     if t < 0:
         raise ValueError

From 47557c6cabadc538684ecac364b5920db766bf0b Mon Sep 17 00:00:00 2001
From: DiamondJoseph <53935796+DiamondJoseph@users.noreply.github.com>
Date: Mon, 16 Oct 2023 15:13:11 +0100
Subject: [PATCH 16/30] Update src/dls_bluesky_core/core/maths.py

Co-authored-by: Tom C (DLS) <101418278+coretl@users.noreply.github.com>
---
 src/dls_bluesky_core/core/maths.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/dls_bluesky_core/core/maths.py b/src/dls_bluesky_core/core/maths.py
index aaa9ebb..ff0779a 100644
--- a/src/dls_bluesky_core/core/maths.py
+++ b/src/dls_bluesky_core/core/maths.py
@@ -46,5 +46,5 @@ def in_micros(t: float) -> int:
         t (int): A time in microseconds, rounded up to the nearest whole microsecond,
     """
     if t < 0:
-        raise ValueError
+        raise ValueError(f"Expected a positive time in seconds, got {t!r}")
     return int(np.ceil(t * 1e6))

From 06f9599234fda3d82d0d5ac6a5cf637be57b48bf Mon Sep 17 00:00:00 2001
From: "Ware, Joseph (DLSLtd,RAL,LSCI)" <joseph.ware@diamond.ac.uk>
Date: Mon, 16 Oct 2023 15:24:41 +0100
Subject: [PATCH 17/30] linting

---
 src/dls_bluesky_core/core/maths.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/dls_bluesky_core/core/maths.py b/src/dls_bluesky_core/core/maths.py
index ff0779a..a99009b 100644
--- a/src/dls_bluesky_core/core/maths.py
+++ b/src/dls_bluesky_core/core/maths.py
@@ -35,7 +35,7 @@ def step_to_num(start: float, stop: float, step: float) -> Tuple[float, float, i
 
 def in_micros(t: float) -> int:
     """
-    Converts between a positive number of seconds and an equivalent 
+    Converts between a positive number of seconds and an equivalent
     number of microseconds.
 
     Args:

From 1bd64aeaa6b0e68d3918c2f98faa6c8e3099dcd0 Mon Sep 17 00:00:00 2001
From: DiamondJoseph <53935796+DiamondJoseph@users.noreply.github.com>
Date: Tue, 17 Oct 2023 13:56:16 +0100
Subject: [PATCH 18/30] Update src/dls_bluesky_core/core/maths.py

---
 src/dls_bluesky_core/core/maths.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/dls_bluesky_core/core/maths.py b/src/dls_bluesky_core/core/maths.py
index a99009b..0505943 100644
--- a/src/dls_bluesky_core/core/maths.py
+++ b/src/dls_bluesky_core/core/maths.py
@@ -20,9 +20,9 @@ def step_to_num(start: float, stop: float, step: float) -> Tuple[float, float, i
             If stop < start, will be coerced to be backwards.
 
     Returns:
-        start, truncated_stop, num = Tuple[float, float, int]
+        start, adjusted_stop, num = Tuple[float, float, int]
         start will be returned unchanged
-        truncated_stop = start + num * step
+        adjusted_stop = start + (num - 1) * step
         num is the maximal number of steps that could fit into the length.
 
     """

From e843acc57b0a6e374f7cebbf4bdffd28100034ea Mon Sep 17 00:00:00 2001
From: "Ware, Joseph (DLSLtd,RAL,LSCI)" <joseph.ware@diamond.ac.uk>
Date: Tue, 17 Oct 2023 14:09:06 +0100
Subject: [PATCH 19/30] Add test for negative step with positive span

---
 tests/core/test_funcs.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/tests/core/test_funcs.py b/tests/core/test_funcs.py
index 83416c0..f2c1c14 100644
--- a/tests/core/test_funcs.py
+++ b/tests/core/test_funcs.py
@@ -48,6 +48,8 @@ def test_in_micros_negative(s: float):
         (0, -0.98, 1, 1, 0),  # stop < start + 0.99*-abs(step), not included
         (0, -1.01, 1, 2, -1),  # stop >= start + 0.99*-abs(step), included
         (0, -1.75, 0.25, 8, -1.75),
+        (1, 10, -0.901, 10, 9.109),  # length overrules step for direction
+        (10, 1, -0.901, 10, 1.891)
     ],
 )
 def test_step_to_num(

From a31c5979cd6cbabb95a8ee13a0c74685c97cce17 Mon Sep 17 00:00:00 2001
From: "Ware, Joseph (DLSLtd,RAL,LSCI)" <joseph.ware@diamond.ac.uk>
Date: Tue, 17 Oct 2023 14:13:17 +0100
Subject: [PATCH 20/30] lint

---
 tests/core/test_funcs.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tests/core/test_funcs.py b/tests/core/test_funcs.py
index f2c1c14..c981dc9 100644
--- a/tests/core/test_funcs.py
+++ b/tests/core/test_funcs.py
@@ -49,7 +49,7 @@ def test_in_micros_negative(s: float):
         (0, -1.01, 1, 2, -1),  # stop >= start + 0.99*-abs(step), included
         (0, -1.75, 0.25, 8, -1.75),
         (1, 10, -0.901, 10, 9.109),  # length overrules step for direction
-        (10, 1, -0.901, 10, 1.891)
+        (10, 1, -0.901, 10, 1.891),
     ],
 )
 def test_step_to_num(

From d7674d27ece09f0518d9f4668bbb8879be6b3e2a Mon Sep 17 00:00:00 2001
From: Rose Yemelyanova <rose.yemelyanova@diamond.ac.uk>
Date: Fri, 20 Oct 2023 09:44:28 +0100
Subject: [PATCH 21/30] Added stream name to bps.collect in fly_and_collect

---
 src/dls_bluesky_core/stubs/flyables.py | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/src/dls_bluesky_core/stubs/flyables.py b/src/dls_bluesky_core/stubs/flyables.py
index d8758b2..bcb81bd 100644
--- a/src/dls_bluesky_core/stubs/flyables.py
+++ b/src/dls_bluesky_core/stubs/flyables.py
@@ -5,7 +5,10 @@
 
 
 def fly_and_collect(
-    flyer: Flyable, flush_period: float = 0.5, checkpoint_every_collect: bool = False
+    flyer: Flyable,
+    flush_period: float = 0.5,
+    checkpoint_every_collect: bool = False,
+    stream_name: str = "primary",
 ) -> MsgGenerator:
     yield from bps.kickoff(flyer)
     complete_group = group_uuid("complete")
@@ -18,6 +21,8 @@ def fly_and_collect(
             pass
         else:
             done = True
-        yield from bps.collect(flyer, stream=True, return_payload=False)
+        yield from bps.collect(
+            flyer, stream=True, return_payload=False, name=stream_name
+        )
         if checkpoint_every_collect:
             yield from bps.checkpoint()

From efba33ee01cac60dd13c578d9b6ca92baa8b1bbd Mon Sep 17 00:00:00 2001
From: "Ware, Joseph (DLSLtd,RAL,LSCI)" <joseph.ware@diamond.ac.uk>
Date: Fri, 20 Oct 2023 15:41:34 +0100
Subject: [PATCH 22/30] Move inject method for type checked default arguments
 from blueapi

---
 src/dls_bluesky_core/core/coordination.py | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)

diff --git a/src/dls_bluesky_core/core/coordination.py b/src/dls_bluesky_core/core/coordination.py
index 1a94742..694c451 100644
--- a/src/dls_bluesky_core/core/coordination.py
+++ b/src/dls_bluesky_core/core/coordination.py
@@ -12,3 +12,21 @@ def group_uuid(name: str) -> str:
         readable_uid (str): name appended with a unique string
     """
     return f"{name}-{str(uuid.uuid4())[:6]}"
+
+
+def inject(name: str):
+    """
+    Function to mark a default argument of a plan method as a reference to a device
+    that is stored in the Blueapi context.
+    Bypasses mypy linting, returning x as Any and therefore valid as a default
+    argument.
+
+    Args:
+        name (str): Name of a device to be fetched from the Blueapi context
+
+    Returns:
+        Any: name but without typing checking, valid as any default type
+
+    """
+
+    return name

From 7d478b0dc9349d01eccc23ab82f80ce2270a2368 Mon Sep 17 00:00:00 2001
From: "Ware, Joseph (DLSLtd,RAL,LSCI)" <joseph.ware@diamond.ac.uk>
Date: Fri, 20 Oct 2023 15:41:34 +0100
Subject: [PATCH 23/30] Move inject method for type checked default arguments
 from blueapi

---
 src/dls_bluesky_core/core/__init__.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/dls_bluesky_core/core/__init__.py b/src/dls_bluesky_core/core/__init__.py
index d945537..899a287 100644
--- a/src/dls_bluesky_core/core/__init__.py
+++ b/src/dls_bluesky_core/core/__init__.py
@@ -1,4 +1,4 @@
-from .coordination import group_uuid
+from .coordination import group_uuid, inject
 from .maths import in_micros, step_to_num
 from .scanspecs import get_constant_duration
 from .types import MsgGenerator, PlanGenerator, ScannableAxis
@@ -6,6 +6,7 @@
 __all__ = [
     "get_constant_duration",
     "group_uuid",
+    "inject",
     "in_micros",
     "MsgGenerator",
     "PlanGenerator",

From 615f9ef69d81d2ee71b7bd790b21176d13c62051 Mon Sep 17 00:00:00 2001
From: Rose Yemelyanova <rose.yemelyanova@diamond.ac.uk>
Date: Mon, 23 Oct 2023 11:04:39 +0100
Subject: [PATCH 24/30] Add test for fly_and_collect stub

---
 pyproject.toml               |  5 ++--
 tests/conftest.py            | 24 +++++++++++++++++
 tests/stubs/test_flyables.py | 52 ++++++++++++++++++++++++++++++++++++
 3 files changed, 79 insertions(+), 2 deletions(-)
 create mode 100644 tests/conftest.py
 create mode 100644 tests/stubs/test_flyables.py

diff --git a/pyproject.toml b/pyproject.toml
index 263579c..995ece3 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -15,8 +15,8 @@ description = "Common Diamond specific Bluesky plans and functions"
 dependencies = [
     "blueapi",
     "ophyd",
-    "ophyd_async @ git+https://github.com/bluesky/ophyd-async.git@add-detector-logic",
-    "scanspec"
+    "ophyd_async @ git+https://github.com/bluesky/ophyd-async.git",
+    "scanspec",
 ] # Add project dependencies here, e.g. ["click", "numpy"]
 dynamic = ["version"]
 license.file = "LICENSE"
@@ -85,6 +85,7 @@ addopts = """
 filterwarnings = "error"
 # Doctest python code in docs, python code in src docstrings, test functions in tests
 testpaths = "docs src tests"
+asyncio_mode = "auto"
 
 [tool.coverage.run]
 data_file = "/tmp/dls_bluesky_core.coverage"
diff --git a/tests/conftest.py b/tests/conftest.py
new file mode 100644
index 0000000..a60c53b
--- /dev/null
+++ b/tests/conftest.py
@@ -0,0 +1,24 @@
+import asyncio
+
+import pytest
+from bluesky.run_engine import RunEngine, TransitionError
+
+
+@pytest.fixture(scope="function")
+def RE(request):
+    loop = asyncio.new_event_loop()
+    loop.set_debug(True)
+    RE = RunEngine({}, call_returns_result=True, loop=loop)
+
+    def clean_event_loop():
+        if RE.state not in ("idle", "panicked"):
+            try:
+                RE.halt()
+            except TransitionError:
+                pass
+        loop.call_soon_threadsafe(loop.stop)
+        RE._th.join()
+        loop.close()
+
+    request.addfinalizer(clean_event_loop)
+    return RE
diff --git a/tests/stubs/test_flyables.py b/tests/stubs/test_flyables.py
new file mode 100644
index 0000000..ca9df9a
--- /dev/null
+++ b/tests/stubs/test_flyables.py
@@ -0,0 +1,52 @@
+import asyncio
+from typing import Dict
+
+import bluesky.plan_stubs as bps
+import pytest
+from bluesky.protocols import Collectable, Descriptor, Flyable
+from ophyd_async.core import AsyncStatus
+
+from dls_bluesky_core.stubs.flyables import fly_and_collect
+
+
+class DummyFlyer(Flyable, Collectable):
+    def __init__(self, name: str) -> None:
+        self._name = name
+        self.has_flown = False
+
+    @property
+    def name(self) -> str:
+        return self._name
+
+    @AsyncStatus.wrap
+    async def kickoff(self) -> None:
+        self._fly_status = AsyncStatus(self._fly())
+
+    async def _fly(self) -> None:
+        self.has_flown = True
+        await asyncio.sleep(0.1)
+
+    def complete(self) -> AsyncStatus:
+        return self._fly_status
+
+    def describe_collect(self) -> Dict[str, Descriptor]:
+        return {
+            self.name: Descriptor(
+                source="some:source", shape=[], dtype="array", external="STREAM:"
+            )
+        }
+
+
+@pytest.fixture
+def flyer() -> Flyable:
+    return DummyFlyer("test")
+
+
+async def test_fly_and_collect(RE, flyer: DummyFlyer):
+    def open_and_close_run_for_fly_and_collect():
+        yield from bps.open_run()
+        yield from fly_and_collect(flyer, flush_period=0.01, checkpoint_every_collect=True)
+        yield from bps.close_run()
+
+    RE(open_and_close_run_for_fly_and_collect())
+    assert flyer.has_flown is True

From 3691bdd95a91958acc597102078ac99551641e16 Mon Sep 17 00:00:00 2001
From: "Ware, Joseph (DLSLtd,RAL,LSCI)" <joseph.ware@diamond.ac.uk>
Date: Mon, 23 Oct 2023 11:06:06 +0100
Subject: [PATCH 25/30] Remove dependency on BlueAPI

---
 pyproject.toml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/pyproject.toml b/pyproject.toml
index 995ece3..0adc7f6 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -13,7 +13,6 @@ classifiers = [
 ]
 description = "Common Diamond specific Bluesky plans and functions"
 dependencies = [
-    "blueapi",
     "ophyd",
     "ophyd_async @ git+https://github.com/bluesky/ophyd-async.git",
     "scanspec",

From 030597cb4e9904679705a9ab0bf81c8ebe0e6c73 Mon Sep 17 00:00:00 2001
From: Rose Yemelyanova <rose.yemelyanova@diamond.ac.uk>
Date: Mon, 23 Oct 2023 11:09:50 +0100
Subject: [PATCH 26/30] Add pytest-asyncio as dependency

---
 pyproject.toml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/pyproject.toml b/pyproject.toml
index 0adc7f6..a2df8e3 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -32,6 +32,7 @@ dev = [
     "pre-commit",
     "pydata-sphinx-theme>=0.12",
     "pytest",
+    "pytest-asyncio",
     "pytest-cov",
     "sphinx-autobuild",
     "sphinx-copybutton",

From 8421a0ba30273bc8f2996641d046dbdb10ef51d6 Mon Sep 17 00:00:00 2001
From: Rose Yemelyanova <rose.yemelyanova@diamond.ac.uk>
Date: Mon, 23 Oct 2023 11:10:48 +0100
Subject: [PATCH 27/30] Ignoring untyped function definition for
 core.coordination.inject for now

---
 src/dls_bluesky_core/core/coordination.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/dls_bluesky_core/core/coordination.py b/src/dls_bluesky_core/core/coordination.py
index 694c451..0e18624 100644
--- a/src/dls_bluesky_core/core/coordination.py
+++ b/src/dls_bluesky_core/core/coordination.py
@@ -14,7 +14,7 @@ def group_uuid(name: str) -> str:
     return f"{name}-{str(uuid.uuid4())[:6]}"
 
 
-def inject(name: str):
+def inject(name: str):  # type: ignore
     """
     Function to mark a default argument of a plan method as a reference to a device
     that is stored in the Blueapi context.

From 02eb1d51e69e2542eadae316aba00b2bc0a79ffc Mon Sep 17 00:00:00 2001
From: Rose Yemelyanova <rose.yemelyanova@diamond.ac.uk>
Date: Mon, 23 Oct 2023 11:12:56 +0100
Subject: [PATCH 28/30] lint

---
 tests/stubs/test_flyables.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/tests/stubs/test_flyables.py b/tests/stubs/test_flyables.py
index ca9df9a..366b2a0 100644
--- a/tests/stubs/test_flyables.py
+++ b/tests/stubs/test_flyables.py
@@ -45,7 +45,9 @@ def flyer() -> Flyable:
 async def test_fly_and_collect(RE, flyer: DummyFlyer):
     def open_and_close_run_for_fly_and_collect():
         yield from bps.open_run()
-        yield from fly_and_collect(flyer, flush_period=0.01, checkpoint_every_collect=True)
+        yield from fly_and_collect(
+            flyer, flush_period=0.01, checkpoint_every_collect=True
+        )
         yield from bps.close_run()
 
     RE(open_and_close_run_for_fly_and_collect())

From 03a65ece2334f4f176b7de79c004e9eee254ea29 Mon Sep 17 00:00:00 2001
From: Rose Yemelyanova <rose.yemelyanova@diamond.ac.uk>
Date: Mon, 23 Oct 2023 11:43:51 +0100
Subject: [PATCH 29/30] Change test structure and add docstring to
 fly_and_collect

---
 src/dls_bluesky_core/stubs/flyables.py      | 31 +++++++++++++++++++++
 tests/core/test_coordination.py             | 12 ++++++++
 tests/core/{test_funcs.py => test_maths.py} | 10 +------
 3 files changed, 44 insertions(+), 9 deletions(-)
 create mode 100644 tests/core/test_coordination.py
 rename tests/core/{test_funcs.py => test_maths.py} (87%)

diff --git a/src/dls_bluesky_core/stubs/flyables.py b/src/dls_bluesky_core/stubs/flyables.py
index bcb81bd..6b7e551 100644
--- a/src/dls_bluesky_core/stubs/flyables.py
+++ b/src/dls_bluesky_core/stubs/flyables.py
@@ -10,6 +10,37 @@ def fly_and_collect(
     checkpoint_every_collect: bool = False,
     stream_name: str = "primary",
 ) -> MsgGenerator:
+    """Repeatedly fly and collect a flyer, flushing with a period.
+
+    flyer.kickoff and complete are called, which starts the fly scanning process.
+    bps.wait is called, which finishes after each flush period and then repeats, until
+    complete finishes. At this point, bps.collect is called to gather the documents
+    produced.
+
+    For some flyers, this plan will need to be called in succession in order to, for
+    example, set up a flyer to send triggers and collect data without pause. For such
+    a use case, this plan can be setup to checkpoint for each collect.
+
+    Note: this plan must be wrapped with calls to open and close a run, and the flyer
+    must implement the Collectable protocol.
+
+    Args:
+        flyer (Flyable, Collectable): ophyd-async device which implements Flyable and
+                                      Collectable.
+        flush_period (float): How often to check if flyer.complete has finished.
+                              Defaults to 0.5
+        checkpoint_every_collect (bool): whether or not to checkpoint after
+                                         flyer.collect has been called. Defaults to
+                                         False.
+        stream_name (str): name of the stream to collect from. Defaults to "primary".
+
+
+    Returns:
+        MsgGenerator: Plan
+
+    Yields:
+        Iterator[MsgGenerator]: Bluesky messages
+    """
     yield from bps.kickoff(flyer)
     complete_group = group_uuid("complete")
     yield from bps.complete(flyer, group=complete_group)
diff --git a/tests/core/test_coordination.py b/tests/core/test_coordination.py
new file mode 100644
index 0000000..f3105d7
--- /dev/null
+++ b/tests/core/test_coordination.py
@@ -0,0 +1,12 @@
+import uuid
+
+import pytest
+
+from dls_bluesky_core.core.coordination import group_uuid
+
+
+@pytest.mark.parametrize("group", ["foo", "bar", "baz", str(uuid.uuid4())])
+def test_group_uid(group: str):
+    gid = group_uuid(group)
+    assert gid.startswith(f"{group}-")
+    assert not gid.endswith(f"{group}-")
diff --git a/tests/core/test_funcs.py b/tests/core/test_maths.py
similarity index 87%
rename from tests/core/test_funcs.py
rename to tests/core/test_maths.py
index c981dc9..c58ef6a 100644
--- a/tests/core/test_funcs.py
+++ b/tests/core/test_maths.py
@@ -1,9 +1,8 @@
-import uuid
 from typing import Optional
 
 import pytest
 
-from dls_bluesky_core.core import group_uuid, in_micros, step_to_num
+from dls_bluesky_core.core import in_micros, step_to_num
 
 
 @pytest.mark.parametrize(
@@ -64,10 +63,3 @@ def test_step_to_num(
     assert actual_start == start
     assert actual_stop == truncated_stop
     assert num == expected_num
-
-
-@pytest.mark.parametrize("group", ["foo", "bar", "baz", str(uuid.uuid4())])
-def test_group_uid(group: str):
-    gid = group_uuid(group)
-    assert gid.startswith(f"{group}-")
-    assert not gid.endswith(f"{group}-")

From ed2cae557ad26fd9bd91333f58f4f49f84cad7c8 Mon Sep 17 00:00:00 2001
From: Rose Yemelyanova <rose.yemelyanova@diamond.ac.uk>
Date: Mon, 23 Oct 2023 11:57:37 +0100
Subject: [PATCH 30/30] Modify docstring

---
 src/dls_bluesky_core/stubs/flyables.py | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/src/dls_bluesky_core/stubs/flyables.py b/src/dls_bluesky_core/stubs/flyables.py
index 6b7e551..41acacb 100644
--- a/src/dls_bluesky_core/stubs/flyables.py
+++ b/src/dls_bluesky_core/stubs/flyables.py
@@ -10,7 +10,7 @@ def fly_and_collect(
     checkpoint_every_collect: bool = False,
     stream_name: str = "primary",
 ) -> MsgGenerator:
-    """Repeatedly fly and collect a flyer, flushing with a period.
+    """Fly and collect a flyer, waiting for collect to finish with a period.
 
     flyer.kickoff and complete are called, which starts the fly scanning process.
     bps.wait is called, which finishes after each flush period and then repeats, until
@@ -18,11 +18,12 @@ def fly_and_collect(
     produced.
 
     For some flyers, this plan will need to be called in succession in order to, for
-    example, set up a flyer to send triggers and collect data without pause. For such
+    example, set up a flyer to send triggers multiple times and collect data. For such
     a use case, this plan can be setup to checkpoint for each collect.
 
-    Note: this plan must be wrapped with calls to open and close a run, and the flyer
-    must implement the Collectable protocol.
+    Note: this plan must be wrapped with calls to open and close run, and the flyer
+    must implement the Collectable protocol. See tests/stubs/test_flyables for an
+    example.
 
     Args:
         flyer (Flyable, Collectable): ophyd-async device which implements Flyable and