Make HardwareTriggeredFlyable Preparable instead of Moveable

src/ophyd_async/core/flyer.py

@@ -20,7 +20,7 @@
     Flyable,
     HasHints,
     Hints,
-    Movable,
+    Preparable,
     Reading,
     Stageable,
     WritesExternalAssets,
@@ -174,7 +174,7 @@ async def stop(self):
 
 class HardwareTriggeredFlyable(
     Device,
-    Movable,
+    Preparable,
     Stageable,
     Flyable,
     Collectable,
@@ -210,18 +210,15 @@ async def stage(self) -> None:
         self._offset = 0
         self._current_frame = 0
 
-    def set(self, value: T) -> AsyncStatus:
+    def prepare(self, value: T) -> AsyncStatus:
         """Arm detectors and setup trajectories"""
         # index + offset = current_frame, but starting a new scan so want it to be 0
         # so subtract current_frame from both sides
-        return AsyncStatus(self._set(value))
+        return AsyncStatus(self._prepare(value))
 
-    async def _set(self, value: T) -> None:
+    async def _prepare(self, value: T) -> None:
         self._offset -= self._current_frame
         self._current_frame = 0
-        await self._prepare(value)
-
-    async def _prepare(self, value: T):
         trigger_info = self._trigger_logic.trigger_info(value)
         # Move to start and setup the flyscan, and arm dets in parallel
         await asyncio.gather(

tests/core/test_flyer.py

@@ -166,7 +166,7 @@ def flying_plan():
         assert trigger_logic.state == TriggerState.stopping
 
     # move the flyer to the correct place, before fly scanning.
-    RE(bps.mv(flyer, 1))
+    RE(bps.prepare(flyer, 1))
     assert trigger_logic.state == TriggerState.preparing
     for controller in detector_group._controllers:
         assert controller.disarm.called  # type: ignore

tests/epics/areadetector/test_scans.py

@@ -129,7 +129,7 @@ def flying_plan():
         finally:
             yield from bps.unstage_all(flyer)
 
-    RE(bps.mv(flyer, 1))
+    RE(bps.prepare(flyer, 1))
     with pytest.raises(Exception) as exc:
         RE(flying_plan())