@opentrons/step-generation 0.3.0-alpha.0 → 0.3.1-alpha.0

package/lib/index.cjs

@@ -1,197 +1,142 @@
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Move the step outside the profile."}),cn=()=>({type:"THERMOCYCLER_LID_CLOSED",message:"Attempted to interact with contents of a thermocycler with the lid closed."}),eo=()=>({type:"HEATER_SHAKER_LATCH_OPEN",message:"Attempted to interact with contents of a heater-shaker with the latch open."}),Xp=()=>({type:"HEATER_SHAKER_LATCH_CLOSED",message:"Attempted to move the contents of a heater-shaker with the latch closed."}),kr=()=>({type:"ABSORBANCE_READER_LID_CLOSED",message:"Attempted to interact with contents of an absorbance plate reader with the lid closed."}),tT=()=>({type:"ABSORBANCE_READER_NO_INITIALIZATION",message:"This step tries to read labware without initializing the Plate Reader first. Initialize the Plate Reader module or remove this step in order to proceed."}),cb=()=>({type:"ABSORBANCE_READER_NO_GRIPPER",message:"This step involves opening or closing the Absorbance Plate Reader lid with a gripper. Add a gripper or remove step to proceed."}),rT=()=>({type:"HOPPER_EMPTY",message:"Cannot retrieve labware from empty stacker"}),nT=()=>({type:"SHUTTLE_FULL",message:"Shuttle must be empty in order to retrieve labware from the stacker"}),aT=()=>({type:"SHUTTLE_EMPTY",message:"Shuttle must have labware in order to store it in the stacker"}),pb=()=>({type:"MISMATCHED_STACKER_LABWARE_TYPE",message:"The stacker can only store a single type of labware at a time"}),oT=()=>({type:"MISSING_STACKER_LABWARE_TYPE",message:"Add labware to the stacker in the starting deck so that you can refill it later"}),fb=()=>({type:"HOPPER_FULL",message:"The hopper has reached capacity"}),pn=()=>({type:"HEATER_SHAKER_IS_SHAKING",message:"Attempted to interact with the contents of a heater-shaker when it is shaking."}),iT=e=>({type:"TALL_LABWARE_EAST_WEST_OF_HEATER_SHAKER",message:`Labware over 53 mm is ${e} of this Heater-Shaker module.`}),Mr=()=>({type:"POSSIBLE_PIPETTE_COLLISION",message:"There is a 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")})`}},bw=(e,t,r)=>{const{pipetteId:n,volume:a,labwareId:o,wellName:i,flowRate:s,isAirGap:l,tipRack:u,wellLocation:c,primaryNozzle:p,nozzles:d}=e,y="aspirate",b=r.labware,h=[],g=t.pipetteEntities[n]?.spec,T=(g?.displayCategory==="FLEX"||g?.channels===96)??!1,m=On(o,r.labware);if(g||h.push(ft({pipette:n})),!o||!r.labware[o]?h.push(dt({actionName:y,labware:o})):we(r.labware[o].stack)==="offDeck"&&h.push(fn()),We.includes(m))h.push(Dt({typeOfStep:y}));else if(b[m]!=null){const N=we(b[m].stack);We.includes(N)&&h.push(Dt({typeOfStep:y}))}if(vn({pipette:n,labware:o,invariantContext:t,prevRobotState:r})&&h.push(ca()),r.tipState.pipettes[n]?.hasTip||h.push(Ft({actionName:y,pipette:n,labware:o,well:i})),t.pipetteEntities[n]?.spec.channels!==1&&!It({robotState:r,invariantContext:t,pipetteId:n,labwareId:o,wellLocationOffset:c?.offset??{x:0,y:0,z:0},wellTargetName:i,primaryNozzle:p,nozzleConfiguration:d})&&h.push(Mr()),va(r.modules,r.labware,o)&&h.push(cn()),Sa(r.modules,r.labware,o)&&h.push(kr()),Pa(r.modules,r.labware,o)&&h.push(eo()),ka(r.modules,r.labware,o)&&h.push(pn()),Pn(r.modules,m,T?f.FLEX_ROBOT_TYPE:f.OT2_ROBOT_TYPE)&&h.push(fa()),T||(Ln(r.modules,m)&&h.push(pa()),Rn(r.modules,m,g)&&h.push(da()),Ra(r.modules,m,g,t.labwareEntities[o])&&h.push(to())),h.length===0&&g&&g.liquids.default.maxVolume<a&&h.push(Xa({actionName:y,volume:a,maxVolume:g.liquids.default.maxVolume})),h.length===0&&g){const N=ko(n,t,u);N<a&&h.push(J_({actionName:y,volume:a,maxVolume:N}))}if(h.length>0)return{errors:h};const I=[{commandType:"aspirate",key:ne(),params:{pipetteId:n,volume:a,labwareId:o,wellName:i,wellLocation:c,flowRate:s},...l&&{meta:{isAirGap:l}}}],S=t.pipetteEntities[n].pythonName,O=t.labwareEntities[o].pythonName,v=[`volume=${a}`,`location=${O}[${ee(i)}]${kn(c)}`,`flow_rate=${s}`],C=`${S}.aspirate(
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+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const c=require("@opentrons/shared-data");function Cy(){return{type:"INSUFFICIENT_TIPS",message:"Not enough tips to complete action"}}function Dy(){return{type:"MISSING_96_CHANNEL_TIPRACK_ADAPTER",message:"A 96-channel cannot pick up tips fully without an adapter"}}function My(){return{type:"REMOVE_96_CHANNEL_TIPRACK_ADAPTER",message:"A 96-channel cannot pick up tips partially with an adapter"}}function Ut(e){const{actionName:t,pipette:r,labware:n,well:a}=e;return{message:n==null||a==null?`Attempted to ${t} with no tip on pipette: ${r} in place`:`Attempted to ${t} with no tip on pipette: ${r} from ${n}'s well ${a}`,type:"NO_TIP_ON_PIPETTE"}}function Fy(){return{message:"One or more of the pipettes has a tip",type:"PIPETTE_HAS_TIP"}}function ut(e){const{pipette:t}=e;return{message:`This step tries to use the ${t}. Add the pipette to your protocol or change the step to use a different pipette.`,type:"PIPETTE_DOES_NOT_EXIST"}}function ct(e){const{actionName:t,labware:r}=e;return console.warn(`Attempted to ${t} with labware id "${r}", this labware was not found under "labware"`),{message:`This step tries to use ${r}. Add the labware to your protocol or change the step to use a different labware.`,type:"LABWARE_DOES_NOT_EXIST"}}function X(){return{message:"This step requires a module, but none is selected",type:"MISSING_MODULE"}}function qy(){return{message:"This module is not changing temperature because it has either been deactivated or is already holding a temperature. In order to pause the protocol and wait for your module to reach a temperature, you must first use a Temperature step to tell the module to start changing to a new temperature",type:"MISSING_TEMPERATURE_STEP"}}function xc(){return{message:"This module is not currently running a profile.",type:"MISSING_PROFILE_STEP"}}function Uy(e){const{volume:t,maxVolume:r,actionName:n}=e;return{message:`This step tries to ${n} ${t}µL, but the tip can only hold ${r}µL.`,type:"TIP_VOLUME_EXCEEDED"}}function Xa(e){const{actionName:t,volume:r,maxVolume:n,disposalVolume:a}=e;return{message:a!=null?`Attemped to ${t} volume + disposal volume greater than pipette max volume (${r} + ${a} > ${n})`:`This step tries to ${t} ${r}µL, but the tip can only hold ${n}µL.`,type:"PIPETTE_VOLUME_EXCEEDED"}}const By=()=>({type:"MOVE_LOCATION_NOT_SPECIFIED",message:"This step is missing a move location."}),pa=()=>({type:"MODULE_PIPETTE_COLLISION_DANGER",message:"Gen 1 8-Channel pipettes cannot access labware or tip racks in slot 4 or 6 because they are adjacent to modules."}),$y=()=>({type:"THERMOCYCLER_BUSY_WITH_PROFILE",message:"This step cannot run while the Thermocycler is running a profile. Move the step outside the profile."}),dn=()=>({type:"THERMOCYCLER_LID_CLOSED",message:"Attempted to interact with contents of a thermocycler with the lid closed."}),ts=()=>({type:"HEATER_SHAKER_LATCH_OPEN",message:"Attempted to interact with contents of a heater-shaker with the latch open."}),Hc=()=>({type:"HEATER_SHAKER_LATCH_CLOSED",message:"Attempted to move the contents of a heater-shaker with the latch closed."}),Dr=()=>({type:"ABSORBANCE_READER_LID_CLOSED",message:"Attempted to interact with contents of an absorbance plate reader with the lid closed."}),Vy=()=>({type:"ABSORBANCE_READER_NO_INITIALIZATION",message:"This step tries to read labware without initializing the Plate Reader first. Initialize the Plate Reader module or remove this step in order to proceed."}),ah=()=>({type:"ABSORBANCE_READER_NO_GRIPPER",message:"This step involves opening or closing the Absorbance Plate Reader lid with a gripper. 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+${o}.deactivate_block()`}:s===c.HEATERSHAKER_MODULE_TYPE?{commands:[{commandType:"heaterShaker/deactivateHeater",key:D(),params:i}],python:`${o}.deactivate_heater()`}:(console.error(`setTemperature expected module ${n} to be ${c.TEMPERATURE_MODULE_TYPE}, ${c.THERMOCYCLER_MODULE_TYPE} or ${c.HEATERSHAKER_MODULE_TYPE}, got ${s}`),{errors:[X()]})},he=(e,t,r)=>{const{message:n}=e;let a,s;if("seconds"in e){a={commandType:"waitForDuration",key:D(),params:{seconds:e.seconds,message:n}};const o=[`seconds=${e.seconds}`,...n?[`msg=${N(n)}`]:[]];s=`${ge}.delay(${o.join(", ")})`}else a={commandType:"waitForResume",key:D(),params:{message:n}},s=`${ge}.pause(${n?N(n):""})`;return{commands:[a],python:s}},cg=(e,t,r)=>{const{moduleId:n}=e,{moduleEntities:a}=t,s="magneticModule/disengage";if(n===null)return{errors:[X()]};if(a[n]?.type!==c.MAGNETIC_MODULE_TYPE)throw new Error(`expected module ${n} to be magdeck, got ${a[n]?.type}`);const o=a[n].pythonName;return{commands:[{commandType:s,key:D(),params:{moduleId:n}}],python:`${o}.disengage()`}},Qh=(e,t,r)=>{const{pipetteId:n,volume:a,labwareId:s,wellName:o,flowRate:i,isAirGap:l,wellLocation:u,pushOut:p,primaryNozzle:d,nozzles:f}=e,_="dispense",m=r.labware,h=[],b=t.pipetteEntities[n]?.spec,T=(b?.displayCategory==="FLEX"||b?.channels===96)??!1,y=Rn(s,r.labware);if(b||h.push(ut({pipette:n})),vn({pipette:n,labware:s,invariantContext:t,prevRobotState:r})&&h.push(pa()),r.tipState.pipettes[n]?.hasTip||h.push(Ut({actionName:_,pipette:n,labware:s,well:o})),!s||!r.labware[s]?h.push(ct({actionName:_,labware:s})):z(r.labware[s].stack)==="offDeck"&&h.push(mn()),De.includes(y))h.push(Ft({typeOfStep:_}));else if(m[y]!=null){const E=z(m[y].stack);De.includes(E)&&h.push(Ft({typeOfStep:_}))}if(t.pipetteEntities[n]?.spec.channels!==1&&!wt({robotState:r,invariantContext:t,pipetteId:n,labwareId:s,wellLocationOffset:u?.offset??{x:0,y:0,z:0},wellTargetName:o,primaryNozzle:d,nozzleConfiguration:f})&&h.push($r()),Pa(r.modules,r.labware,s)&&h.push(dn()),Ra(r.modules,r.labware,s)&&h.push(Dr()),Da(r.modules,r.labware,s)&&h.push(ts()),Ma(r.modules,r.labware,s)&&h.push(fn()),Cn(r.modules,y,T?c.FLEX_ROBOT_TYPE:c.OT2_ROBOT_TYPE)&&h.push(fa()),T||(Pn(r.modules,y)&&h.push(da()),Nn(r.modules,y,b)&&h.push(ma()),Ca(r.modules,y,b,t.labwareEntities[s])&&h.push(rs())),h.length>0)return{errors:h};const w=[{commandType:"dispense",key:D(),params:{pipetteId:n,volume:a,labwareId:s,wellName:o,wellLocation:u,flowRate:i,...p!=null?{pushOut:p}:{}},...l&&{meta:{isAirGap:l}}}],g=t.pipetteEntities[n].pythonName,I=t.labwareEntities[s].pythonName,L=[`volume=${a}`,`location=${I}[${N(o)}]${An(u)}`,`flow_rate=${i}`,...p!=null?[`push_out=${p}`]:[]],A=`${g}.dispense(
+${Z(L.join(`,
 `))},
-)`;return{commands:I,python:C}},st=(e,t,r)=>{const{pipetteId:n,volume:a,flowRate:o,pushOut:i,correctionVolume:s,isAirGap:l}=e,u=[];r.tipState.pipettes[n]?.hasTip||u.push(Ft({actionName:"dispense",pipette:n}));const c=[{commandType:"dispenseInPlace",key:ne(),params:{pipetteId:n,volume:a,flowRate:o,...i!=null?{pushOut:i}:{},...s!=null?{correctionVolume:s}:{}},...l?{meta:{isAirGap:l}}:{}}],p=t.pipetteEntities[n].pythonName,d=[`volume=${a}`,`flow_rate=${o}`,...i!=null?[`push_out=${i}`]:[]],y=`${p}.dispense(${d.join(", ")})`;return u.length>0?{errors:u}:{commands:c,python:y}},wn=(e,t,r)=>{const{pipette:n,dropTipLocation:a,wellName:o,isReturnTip:i}=e;if(!r.tipState.pipettes[n]?.hasTip)return{commands:[]};const s=r.pipettes[n].tiprackId,l=r.pipettes[n].tipWell,u=Object.values(t.labwareEntities).find(({id:y})=>y===s),c=u!=null&&l!=null;if(i&&!c)return{errors:[Zp()]};let p=null;if(i&&c){const y=t.pipetteEntities[n].pythonName,h=`${u.pythonName}["${l}"]`;p=`${y}.drop_tip(location=${h})`}let d=[];if(i){if(s==null||l==null)return{errors:[Zp()]};d=[{commandType:"dropTip",key:ne(),params:{pipetteId:n,labwareId:s,wellName:l}}]}else{if(a==null||o==null)return{errors:[yn()]};d=[{commandType:"dropTip",key:ne(),params:{pipetteId:n,labwareId:a,wellName:o}}]}return{commands:d,...p!=null?{python:p}:{}}},wp=(e,t,r)=>{const{pipetteId:n}=e;return r.tipState.pipettes[n]?.hasTip?{commands:[{commandType:"dropTipInPlace",key:ne(),params:{pipetteId:n}}]}:{commands:[]}},Qw=(e,t,r)=>{const{moduleId:n,height:a}=e,{moduleEntities:o}=t,i="magneticModule/engage";if(n===null)return{errors:[ke()]};jr(o[n]?.type===f.MAGNETIC_MODULE_TYPE,`expected module ${n} to be magdeck, got ${o[n]?.type}`);const s=o[n].pythonName;return{commands:[{commandType:i,key:ne(),params:{moduleId:n,height:a}}],python:`${s}.engage(height_from_base=${a})`}},eI=(e,t,r)=>{const{moduleEntities:n}=t,{moduleId:a,strategy:o,message:i,count:s}=e,l=mt(r,a);if(a==null||n[a]==null)return{errors:[ke()]};const u=[];if(l==null&&u.push(ke()),u.length>0)return{errors:u};const c=n[a].pythonName;return{commands:[{commandType:"flexStacker/empty",key:ne(),params:{moduleId:a,strategy:o,message:i,count:s}}],python:`${c}.empty(${e.message?`message=${ee(e.message)}`:""})`}},tI=(e,t,r)=>{const{moduleId:n,interventionMessage:a,fillLabwareIds:o}=e,{labwareEntities:i,moduleEntities:s}=t;if(n==null||s[n]==null)return{errors:[ke()]};const l=mt(r,n),u=Np(l,t.labwareEntities),c=s[n].pythonName,p=o.filter(T=>!f.getIsLid(i[T].def)).map(T=>i[T]?.pythonName),y=vo(p,4).map(T=>Na+T.join(", ")).join(`,
-`),b=p.length<4?p.join(", "):`
-${y}
-`;if(l!=null&&l.storedLabwareDetails===null&&l.labwareInHopper==null)return{errors:[oT()]};if(u){if(o.length>0&&!o.every(m=>kp(m,t,l)))return{errors:[pb()]}}else return{errors:[fb()]};const g=[...o.filter(T=>!f.getIsLid(i[T].def)).length>0?`labware=[${b}],
-`:[],...a!=null?[`message=${ee(a)},
-`]:[]].join("");return{commands:[{commandType:"flexStacker/fillItems",key:ne(),params:{moduleId:n,labware:o,message:a??void 0}}],python:`${c}.fill_items(
-${ve(g)})`}},rI=(e,t,r)=>{const{moduleId:n}=e,{moduleEntities:a}=t;if(n==null||a[n]==null)return{errors:[ke()]};const o=a[n].pythonName,i=mt(r,n),s=i?.labwareInHopper!=null&&i.labwareInHopper.length>0;return i!==null&&Pp(i)?{errors:[nT()]}:s?{commands:[{commandType:"flexStacker/retrieve",key:ne(),params:{moduleId:n}}],python:`${o}.retrieve()`}:{errors:[rT()]}},nI=(e,t,r)=>{const{moduleId:n}=e,{labwareEntities:a,moduleEntities:o}=t;if(n==null||o[n]==null)return{errors:[ke()]};const i=o[n].pythonName,s=mt(r,n),l=s?.labwareOnShuttle?.primaryLabwareId??null,u=Np(s,a);return s!==null&&!Pp(s)?{errors:[aT()]}:l!==null&&!kp(l,t,s)?{errors:[pb()]}:u?{commands:[{commandType:"flexStacker/store",key:ne(),params:{moduleId:n,strategy:"automatic"}}],python:`${i}.store()`}:{errors:[fb()]}};function cu(){return{type:"ASPIRATE_MORE_THAN_WELL_CONTENTS",message:"Not enough liquid"}}function pu(){return{type:"ASPIRATE_FROM_PRISTINE_WELL",message:"This step tries to aspirate from an empty well."}}function aI(){return{type:"LABWARE_IN_WASTE_CHUTE_HAS_LIQUID",message:"Disposing of a labware with liquid"}}function oI(){return{type:"TIPRACK_IN_WASTE_CHUTE_HAS_TIPS",message:"Disposing unused tips"}}function iI(){return{type:"TEMPERATURE_IS_POTENTIALLY_UNREACHABLE",message:"The module set temperature is potentially unreachable."}}function sI(){return{type:"WAITING_FOR_NONEXISTENT_TASK",message:"This step is waiting for a task that was never started."}}const lI="opentrons_flex_tiprack_lid",uI=(e,t,r)=>{const{labwareId:n,strategy:a,newLocation:o}=e,i=a==="usingGripper",{gripperEntities:s,trashBinEntities:l,wasteChuteEntities:u,labwareEntities:c,moduleEntities:p}=t,d=Object.keys(s).length>0,y=Object.values(u).length>0,b=r.tipState!=null?vg(r.tipState,n):!1,h=r.liquidState!=null?Lg(r.liquidState,n):!1,g=Object.values(r.tipState.pipettes).some(({hasTip:P})=>P),T="moveToLabware",m=[],_=[],I=f.locationIsOnAddressableArea(o)&&o.addressableAreaName==="gripperWasteChute";!n||!r.labware[n]?m.push(dt({actionName:T,labware:n})):we(r.labware[n].stack)==="offDeck"&&i?m.push(fn()):r.labware[n].stack.includes(Je)&&m.push(ET());const S=c[n]?.def.metadata.displayCategory==="aluminumBlock";i&&S&&m.push(uT()),(I&&d&&!i||!d&&i)&&m.push(lT()),g&&i&&m.push(X_());const O=r.labware[n]!=null?we(r.labware[n].stack):null;(y&&O==="gripperWasteChute"||f.MOVABLE_TRASH_ADDRESSABLE_AREAS.includes(O)||O==="fixedTrash")&&m.push(ma());const v=O!=null&&r.labware[O]!=null?we(r.labware[O].stack):null,C=v??O,N=P=>P==null?null:P in r.modules?r.modules[P].moduleState:Object.values(r.modules).find(({slot:D})=>D===P)?.moduleState??null,V=Object.entries(r.labware).filter(([P,D])=>D.stack.includes("offDeck")).map(([P])=>P),$=Object.values(o);V.some(P=>$.includes(P))&&i&&m.push(Q_());const G=N(C);G!=null&&(G.type===f.THERMOCYCLER_MODULE_TYPE&&G.lidOpen!==!0?m.push(cn()):G.type===f.HEATERSHAKER_MODULE_TYPE?G.latchOpen!==!0?m.push(Xp()):G.targetSpeed!==null&&m.push(pn()):G.type===f.ABSORBANCE_READER_TYPE&&G.lidOpen!==!0&&m.push(kr()));const X=f.locationIsOnModule(o)&&"moduleId"in o?o.moduleId:null,fe=f.locationIsOnLabware(o)?o.labwareId:null,be=fe!=null?r.labware[fe].stack[1]:null,ge=be??X;o==="offDeck"&&i&&m.push(fn()),b&&I&&y?_.push(oI()):h&&I&&y&&_.push(aI());const le=N(ge);le!=null&&(le.type===f.THERMOCYCLER_MODULE_TYPE&&le.lidOpen!==!0?m.push(cn()):le.type===f.HEATERSHAKER_MODULE_TYPE?(le.latchOpen!==!0&&m.push(Xp()),le.targetSpeed!==null&&m.push(pn())):le.type===f.ABSORBANCE_READER_TYPE&&le.lidOpen!==!0&&m.push(kr())),c[n]?.def.parameters.loadName===lI&&o!=null&&f.locationIsOnDeck(o)&&("slotName"in o||"addressableAreaName"in o&&f.FLEX_STAGING_AREA_SLOT_ADDRESSABLE_AREAS.includes(o.addressableAreaName))&&m.push(yT());const U={labwareId:n,strategy:a,newLocation:o},x=[{commandType:"moveLabware",key:ne(),params:U}],W=c[n]?.pythonName;let w="",R=null;if(o==="offDeck")w=sa;else if(o==="systemLocation")w="system_location";else if(o==="wasteChuteLocation")w=sa;else if("labwareId"in o){w=c[o.labwareId].pythonName;const P=r.labware[o.labwareId].stack;R=P[P.length-1]}else if("moduleId"in o)R=r.modules[o.moduleId].slot,w=p[o.moduleId].pythonName;else if("slotName"in o){const{slotName:P}=o;if(P in c){const D=we(r.labware[P].stack);w=f.getIsLid(c[P].def)?ee(D):c[P].pythonName;const H=r.labware[P].stack;R=H[H.length-1]}else w=ee(P),R=P}else if("addressableAreaName"in o){const P=We.includes(o.addressableAreaName),D=f.WASTE_CHUTE_ADDRESSABLE_AREAS.includes(o.addressableAreaName),z=o.addressableAreaName==="fixedTrash",oe=f.MOVABLE_TRASH_ADDRESSABLE_AREAS.includes(o.addressableAreaName)||z?Object.values(l)?.map(J=>J.location):[],K=!D&&!P?_g(o.addressableAreaName,z?"fixedTrashSlot":"trashBinAdapter",z?f.OT2_ROBOT_TYPE:f.FLEX_ROBOT_TYPE):null,ue=oe.find(J=>J===K),de=ue!=null?Object.values(l).find(J=>J.location===ue)?.id:null;P?w=ee(o.addressableAreaName):de!=null&&!D?w=l[de]?.pythonName??"":de==null&&D?w=Object.values(u)[0]?.pythonName??"":w=""}if(R!=null){const P=_o(r.labware,R),D=we(P),{isCompatible:z,isAboveStackLimit:H}=Ng(n,P,c,p);z||m.push(sT()),H&&m.push(gT({slot:D}))}if(m.length>0)return{errors:m};w===""&&console.error("expected to find a python new location but could not");const E=i?", use_gripper=True":"",A=f.getIsLid(c[n].def),L=r.labware[n].stack;let M="";if(A){const P=Rg(L);if(P==null)console.error("expected to find a parent for labware to move but could not");else{const D=c[P]!=null,z=D&&f.getIsLid(c[P].def);L.length===2||D&&z?M=ee(we(L)):(D||!f.getIsLid(c[P].def))&&(M=c[P].pythonName)}}A&&M===""&&console.error("expected to find a valid lid move location but could not");const q=A?`${$e}.move_lid(${M}, ${w}${E})`:`${$e}.move_labware(${W}, ${w}${E})`;return{commands:x,..._.length>0?{warnings:_}:{},python:q}},Xe=(e,t,r)=>{const{pipetteId:n,fixtureId:a,offset:o}=e,{pipetteEntities:i,trashBinEntities:s,wasteChuteEntities:l}=t,u=i[n],c=u.spec.channels,p=u.pythonName,d=s[a]??l[a],y=d.pythonName;let b=Tg(c);return s[a]!=null&&(b=Ip(d.location)),{commands:[{commandType:"moveToAddressableArea",key:ne(),params:{pipetteId:n,addressableAreaName:b,offset:o}}],python:`${p}.move_to(${y})`}},yg=(e,t,r)=>{const{pipetteId:n,addressableAreaName:a}=e;return{commands:[{commandType:"moveToAddressableAreaForDropTip",key:ne(),params:{pipetteId:n,addressableAreaName:a,offset:{x:0,y:0,z:0},alternateDropLocation:!0}}]}},ye=(e,t,r)=>{const{pipetteId:n,labwareId:a,wellName:o,wellLocation:i,minimumZHeight:s,forceDirect:l,speed:u}=e,c="moveToWell",p=[],d=r.labware,{pipetteEntities:y,labwareEntities:b}=t,h=y[n]?.spec,g=r.pipettes[n]?.nozzles??f.ALL,T=r.pipettes[n]?.primaryNozzle??qr({nozzles:g,channels:h?.channels}),m=(h?.displayCategory==="FLEX"||h?.channels===96)??!1,_=On(a,r.labware);if(h||p.push(ft({pipette:n})),!a||!r.labware[a]?p.push(dt({actionName:c,labware:a})):we(r.labware[a].stack)==="offDeck"&&p.push(fn()),We.includes(_))p.push(Dt({typeOfStep:"move to well"}));else if(d[_]!=null){const N=we(d[_].stack);We.includes(N)&&p.push(Dt({typeOfStep:c}))}if(vn({pipette:n,labware:a,invariantContext:t,prevRobotState:r})&&p.push(ca()),va(r.modules,r.labware,a)&&p.push(cn()),Pa(r.modules,r.labware,a)&&p.push(eo()),Sa(r.modules,r.labware,a)&&p.push(kr()),ka(r.modules,r.labware,a)&&p.push(pn()),Pn(r.modules,_,m?f.FLEX_ROBOT_TYPE:f.OT2_ROBOT_TYPE)&&p.push(fa()),m||(Ln(r.modules,_)&&p.push(pa()),Rn(r.modules,_,h)&&p.push(da()),Ra(r.modules,_,h,b[a])&&p.push(to())),t.pipetteEntities[n]?.spec.channels!==1&&!It({robotState:r,invariantContext:t,pipetteId:n,labwareId:a,wellLocationOffset:i?.offset??{x:0,y:0,z:0},wellTargetName:o,nozzleConfiguration:g,primaryNozzle:T})&&p.push(Mr()),p.length>0)return{errors:p};const S=y[n].pythonName,O=b[a].pythonName,v=[{commandType:"moveToWell",key:ne(),params:{pipetteId:n,labwareId:a,wellName:o,wellLocation:i,...l!=null?{forceDirect:l}:{},...s!=null?{minimumZHeight:s}:{},...u!=null?{speed:u}:null}}],C=[`${O}[${ee(o)}]${kn(i)}`,...l?["force_direct=True"]:[],...s?[`minimum_z_height=${s}`]:[],...u?[`speed=${u}`]:[]];return{commands:v,python:`${S}.move_to(${C.join(", ")})`}},fu=(e,t,r)=>{const{pipetteId:n,labwareId:a,wellName:o,tipTrackingOption:i=Qc,nozzles:s,primaryNozzle:l}=e,u=[],c=t.pipetteEntities[n].spec.channels,p=It({robotState:r,invariantContext:t,pipetteId:n,labwareId:a,wellLocationOffset:{x:0,y:0},wellTargetName:o,nozzleConfiguration:s,primaryNozzle:l}),d=L_({tipState:r.tipState.tipracks[a],primaryNozzle:l??qr({channels:c,nozzles:s}),channels:c,nozzleConfiguration:s,wellName:o,tiprackDef:t.labwareEntities[a].def});p||u.push(Mr()),d.isSafe||u.push(_T()),d.isComplete!==!0&&u.push(TT());const y=we(r.labware[a].stack);if(We.includes(y))u.push(Dt({typeOfStep:"pick up tip"}));else if(r.labware[y]!=null){const T=we(r.labware[y].stack);We.includes(T)&&u.push(Dt({typeOfStep:"pick up tip"}))}const b=t.pipetteEntities[n].pythonName,h=t.labwareEntities[a].pythonName,g=`${b}.pick_up_tip(location=${h}${i===wt?`[${ee(o)}]`:""})`;return u.length>0?{errors:u}:{commands:[{commandType:"pickUpTip",key:ne(),params:{pipetteId:n,labwareId:a,wellName:o}}],python:g}},cI=(e,t,r)=>{const{moduleId:n,taskId:a,profileElements:o,blockMaxVolumeUl:i}=e,s=t.moduleEntities[n].pythonName,l=P_(e.profileElements),u=l.repeatingProfileSteps.map(b=>`{${ee("temperature")}: ${b.celsius}, ${ee("hold_time_seconds")}: ${b.holdSeconds}},`).join(`
-`),p=`${`[
-${ve(u)}
+)`;return{commands:w,python:A}},nt=(e,t,r)=>{const{pipetteId:n,volume:a,flowRate:s,pushOut:o,correctionVolume:i,isAirGap:l}=e,u=[];r.tipState.pipettes[n]?.hasTip||u.push(Ut({actionName:"dispense",pipette:n}));const p=[{commandType:"dispenseInPlace",key:D(),params:{pipetteId:n,volume:a,flowRate:s,...o!=null?{pushOut:o}:{},...i!=null?{correctionVolume:i}:{}},...l?{meta:{isAirGap:l}}:{}}],d=t.pipetteEntities[n].pythonName,f=[`volume=${a}`,`flow_rate=${s}`,...o!=null?[`push_out=${o}`]:[]],_=`${d}.dispense(${f.join(", ")})`;return u.length>0?{errors:u}:{commands:p,python:_}},wn=(e,t,r)=>{const{pipette:n,dropTipLocation:a,wellName:s,isReturnTip:o}=e;if(!r.tipState.pipettes[n]?.hasTip)return{commands:[]};const i=r.pipettes[n].tiprackId,l=r.pipettes[n].tipWell,u=Object.values(t.labwareEntities).find(({id:_})=>_===i),p=u!=null&&l!=null;if(o&&!p)return{errors:[jc()]};let d=null;if(o&&p){const _=t.pipetteEntities[n].pythonName,h=`${u.pythonName}["${l}"]`;d=`${_}.drop_tip(location=${h})`}let f=[];if(o){if(i==null||l==null)return{errors:[jc()]};f=[{commandType:"dropTip",key:D(),params:{pipetteId:n,labwareId:i,wellName:l}}]}else{if(a==null||s==null)return{errors:[yn()]};f=[{commandType:"dropTip",key:D(),params:{pipetteId:n,labwareId:a,wellName:s}}]}return{commands:f,...d!=null?{python:d}:{}}},hc=(e,t,r)=>{const{pipetteId:n}=e;return r.tipState.pipettes[n]?.hasTip?{commands:[{commandType:"dropTipInPlace",key:D(),params:{pipetteId:n}}]}:{commands:[]}},pg=(e,t,r)=>{const{moduleId:n,height:a}=e,{moduleEntities:s}=t,o="magneticModule/engage";if(n===null)return{errors:[X()]};if(s[n]?.type!==c.MAGNETIC_MODULE_TYPE)throw new Error(`expected module ${n} to be magdeck, got ${s[n]?.type}`);const i=s[n].pythonName;return{commands:[{commandType:o,key:D(),params:{moduleId:n,height:a}}],python:`${i}.engage(height_from_base=${a})`}},dg=(e,t,r)=>{const{moduleEntities:n}=t,{moduleId:a,strategy:s,message:o,count:i}=e,l=dt(r,a);if(a==null||n[a]==null)return{errors:[X()]};const u=[];if(l==null&&u.push(X()),u.length>0)return{errors:u};const p=n[a].pythonName;return{commands:[{commandType:"flexStacker/empty",key:D(),params:{moduleId:a,strategy:s,message:o,count:i}}],python:`${p}.empty(${e.message?`message=${N(e.message)}`:""})`}},fg=(e,t,r)=>{const{moduleId:n,interventionMessage:a,fillLabwareIds:s}=e,{labwareEntities:o,moduleEntities:i}=t;if(n==null||i[n]==null)return{errors:[X()]};const l=dt(r,n),u=Lc(l,t.labwareEntities),p=i[n].pythonName,d=s.filter(T=>!c.getIsLid(o[T].def)).map(T=>o[T]?.pythonName),_=_s(d,4).map(T=>La+T.join(", ")).join(`,
+`),m=d.length<4?d.join(", "):`
+${_}
+`;if(l!=null&&l.storedLabwareDetails===null&&l.labwareInHopper==null)return{errors:[zy()]};if(u){if(s.length>0&&!s.every(y=>Sc(y,t,l)))return{errors:[sh()]}}else return{errors:[oh()]};const b=[...s.filter(T=>!c.getIsLid(o[T].def)).length>0?`labware=[${m}],
+`:[],...a!=null?[`message=${N(a)},
+`]:[]].join("");return{commands:[{commandType:"flexStacker/fillItems",key:D(),params:{moduleId:n,labware:s,message:a??void 0}}],python:`${p}.fill_items(
+${Z(b)})`}},mg=(e,t,r)=>{const{moduleId:n}=e,{moduleEntities:a}=t;if(n==null||a[n]==null)return{errors:[X()]};const s=a[n].pythonName,o=dt(r,n),i=o?.labwareInHopper!=null&&o.labwareInHopper.length>0;return o!==null&&Ac(o)?{errors:[Hy()]}:i?{commands:[{commandType:"flexStacker/retrieve",key:D(),params:{moduleId:n}}],python:`${s}.retrieve()`}:{errors:[xy()]}},hg=(e,t,r)=>{const{moduleId:n}=e,{labwareEntities:a,moduleEntities:s}=t;if(n==null||s[n]==null)return{errors:[X()]};const o=s[n].pythonName,i=dt(r,n),l=i?.labwareOnShuttle?.primaryLabwareId??null,u=Lc(i,a);return i!==null&&!Ac(i)?{errors:[jy()]}:l!==null&&!Sc(l,t,i)?{errors:[sh()]}:u?{commands:[{commandType:"flexStacker/store",key:D(),params:{moduleId:n,strategy:"automatic"}}],python:`${o}.store()`}:{errors:[oh()]}};function ll(){return{type:"ASPIRATE_MORE_THAN_WELL_CONTENTS",message:"Not enough liquid"}}function ul(){return{type:"ASPIRATE_FROM_PRISTINE_WELL",message:"This step tries to aspirate from an empty well."}}function _g(){return{type:"LABWARE_IN_WASTE_CHUTE_HAS_LIQUID",message:"Disposing of a labware with liquid"}}function yg(){return{type:"TIPRACK_IN_WASTE_CHUTE_HAS_TIPS",message:"Disposing unused tips"}}function bg(){return{type:"TEMPERATURE_IS_POTENTIALLY_UNREACHABLE",message:"The module set temperature is potentially unreachable."}}function Tg(){return{type:"WAITING_FOR_NONEXISTENT_TASK",message:"This step is waiting for a task that was never started."}}const gg="opentrons_flex_tiprack_lid",Ig=(e,t,r)=>{const{labwareId:n,strategy:a,newLocation:s}=e,o=a==="usingGripper",{gripperEntities:i,trashBinEntities:l,wasteChuteEntities:u,labwareEntities:p,moduleEntities:d}=t,f=Object.keys(i).length>0,_=Object.values(u).length>0,m=r.tipState!=null?d_(r.tipState,n):!1,h=r.liquidState!=null?f_(r.liquidState,n):!1,b=Object.values(r.tipState.pipettes).some(({hasTip:P})=>P),T="moveToLabware",y=[],S=[],w=c.locationIsOnAddressableArea(s)&&s.addressableAreaName==="gripperWasteChute";!n||!r.labware[n]?y.push(ct({actionName:T,labware:n})):z(r.labware[n].stack)==="offDeck"&&o?y.push(mn()):r.labware[n].stack.includes(He)&&y.push(ib());const g=p[n]?.def.metadata.displayCategory==="aluminumBlock";o&&g&&y.push(Ky()),(w&&f&&!o||!f&&o)&&y.push(Yy()),b&&o&&y.push(Fy());const I=r.labware[n]!=null?z(r.labware[n].stack):null;(_&&I==="gripperWasteChute"||c.MOVABLE_TRASH_ADDRESSABLE_AREAS.includes(I)||I==="fixedTrash")&&y.push(ha());const L=I!=null&&r.labware[I]!=null?z(r.labware[I].stack):null,A=L??I,E=P=>P==null?null:P in r.modules?r.modules[P].moduleState:Object.values(r.modules).find(({slot:v})=>v===P)?.moduleState??null,k=Object.entries(r.labware).filter(([P,v])=>v.stack.includes("offDeck")).map(([P])=>P),R=Object.values(s);k.some(P=>R.includes(P))&&o&&y.push(By());const B=E(A);B!=null&&(B.type===c.THERMOCYCLER_MODULE_TYPE&&B.lidOpen!==!0?y.push(dn()):B.type===c.HEATERSHAKER_MODULE_TYPE?B.latchOpen!==!0?y.push(Hc()):B.targetSpeed!==null&&y.push(fn()):B.type===c.ABSORBANCE_READER_TYPE&&B.lidOpen!==!0&&y.push(Dr()));const F=c.locationIsOnModule(s)&&"moduleId"in s?s.moduleId:null,te=c.locationIsOnLabware(s)?s.labwareId:null,de=te!=null?r.labware[te].stack[1]:null,_e=de??F;s==="offDeck"&&o&&y.push(mn()),m&&w&&_?S.push(yg()):h&&w&&_&&S.push(_g());const oe=E(_e);oe!=null&&(oe.type===c.THERMOCYCLER_MODULE_TYPE&&oe.lidOpen!==!0?y.push(dn()):oe.type===c.HEATERSHAKER_MODULE_TYPE?(oe.latchOpen!==!0&&y.push(Hc()),oe.targetSpeed!==null&&y.push(fn())):oe.type===c.ABSORBANCE_READER_TYPE&&oe.lidOpen!==!0&&y.push(Dr())),p[n]?.def.parameters.loadName===gg&&s!=null&&c.locationIsOnDeck(s)&&("slotName"in s||"addressableAreaName"in s&&c.FLEX_STAGING_AREA_SLOT_ADDRESSABLE_AREAS.includes(s.addressableAreaName))&&y.push(rb());const ve={labwareId:n,strategy:a,newLocation:s},ze=[{commandType:"moveLabware",key:D(),params:ve}],Ue=p[n]?.pythonName;let J="",Le=null;if(s==="offDeck")J=oa;else if(s==="systemLocation")J="system_location";else if(s==="wasteChuteLocation")J=oa;else if("labwareId"in s){J=p[s.labwareId].pythonName;const P=r.labware[s.labwareId].stack;Le=P[P.length-1]}else if("moduleId"in s)Le=r.modules[s.moduleId].slot,J=d[s.moduleId].pythonName;else if("slotName"in s){const{slotName:P}=s;if(P in p){const v=z(r.labware[P].stack);J=c.getIsLid(p[P].def)?N(v):p[P].pythonName;const C=r.labware[P].stack;Le=C[C.length-1]}else J=N(P),Le=P}else if("addressableAreaName"in s){const P=De.includes(s.addressableAreaName),v=c.WASTE_CHUTE_ADDRESSABLE_AREAS.includes(s.addressableAreaName),$=s.addressableAreaName==="fixedTrash",ae=c.MOVABLE_TRASH_ADDRESSABLE_AREAS.includes(s.addressableAreaName)||$?Object.values(l)?.map(M=>M.location):[],q=!v&&!P?a_(s.addressableAreaName,$?"fixedTrashSlot":"trashBinAdapter",$?c.OT2_ROBOT_TYPE:c.FLEX_ROBOT_TYPE):null,x=ae.find(M=>M===q),H=x!=null?Object.values(l).find(M=>M.location===x)?.id:null;P?J=N(s.addressableAreaName):H!=null&&!v?J=l[H]?.pythonName??"":H==null&&v?J=Object.values(u)[0]?.pythonName??"":J=""}if(Le!=null){const P=ys(r.labware,Le),v=z(P),{isCompatible:$,isAboveStackLimit:C}=y_(n,P,p,d);$||y.push(Wy()),C&&y.push(ab({slot:v}))}if(y.length>0)return{errors:y};J===""&&console.error("expected to find a python new location but could not");const Ge=o?", use_gripper=True":"",Be=c.getIsLid(p[n].def),re=r.labware[n].stack;let W="";if(Be){const P=m_(re);if(P==null)console.error("expected to find a parent for labware to move but could not");else{const v=p[P]!=null,$=v&&c.getIsLid(p[P].def);re.length===2||v&&$?W=N(z(re)):(v||!c.getIsLid(p[P].def))&&(W=p[P].pythonName)}}Be&&W===""&&console.error("expected to find a valid lid move location but could not");const Y=Be?`${ge}.move_lid(${W}, ${J}${Ge})`:`${ge}.move_labware(${Ue}, ${J}${Ge})`;return{commands:ze,...S.length>0?{warnings:S}:{},python:Y}},qe=(e,t,r)=>{const{pipetteId:n,fixtureId:a,offset:s}=e,{pipetteEntities:o,trashBinEntities:i,wasteChuteEntities:l}=t,u=o[n],p=u.spec.channels,d=u.pythonName,f=i[a]??l[a],_=f.pythonName;let m=s_(p);return i[a]!=null&&(m=yc(f.location)),{commands:[{commandType:"moveToAddressableArea",key:D(),params:{pipetteId:n,addressableAreaName:m,offset:s}}],python:`${d}.move_to(${_})`}},Jh=(e,t,r)=>{const{pipetteId:n,addressableAreaName:a}=e;return{commands:[{commandType:"moveToAddressableAreaForDropTip",key:D(),params:{pipetteId:n,addressableAreaName:a,offset:{x:0,y:0,z:0},alternateDropLocation:!0}}]}},V=(e,t,r)=>{const{pipetteId:n,labwareId:a,wellName:s,wellLocation:o,minimumZHeight:i,forceDirect:l,speed:u}=e,p="moveToWell",d=[],f=r.labware,{pipetteEntities:_,labwareEntities:m}=t,h=_[n]?.spec,b=r.pipettes[n]?.nozzles??c.ALL,T=r.pipettes[n]?.primaryNozzle??es({nozzles:b,channels:h?.channels}),y=(h?.displayCategory==="FLEX"||h?.channels===96)??!1,S=Rn(a,r.labware);if(h||d.push(ut({pipette:n})),!a||!r.labware[a]?d.push(ct({actionName:p,labware:a})):z(r.labware[a].stack)==="offDeck"&&d.push(mn()),De.includes(S))d.push(Ft({typeOfStep:"move to well"}));else if(f[S]!=null){const k=z(f[S].stack);De.includes(k)&&d.push(Ft({typeOfStep:p}))}vn({pipette:n,labware:a,invariantContext:t,prevRobotState:r})&&d.push(pa()),Pa(r.modules,r.labware,a)&&d.push(dn()),Da(r.modules,r.labware,a)&&d.push(ts()),Ra(r.modules,r.labware,a)&&d.push(Dr()),Ma(r.modules,r.labware,a)&&d.push(fn()),Cn(r.modules,S,y?c.FLEX_ROBOT_TYPE:c.OT2_ROBOT_TYPE)&&d.push(fa()),y||(Pn(r.modules,S)&&d.push(da()),Nn(r.modules,S,h)&&d.push(ma()),Ca(r.modules,S,h,m[a])&&d.push(rs()));const w=t.pipetteEntities[n]?.spec.channels!==1,g=t.pipetteEntities[n]?.spec;if(w&&g&&!wt({robotState:r,invariantContext:t,pipetteId:n,labwareId:a,wellLocationOffset:o?.offset??{x:0,y:0,z:0},wellTargetName:s,nozzleConfiguration:b,primaryNozzle:T})&&d.push($r()),d.length>0)return{errors:d};const I=_[n].pythonName,L=m[a].pythonName,A=[{commandType:"moveToWell",key:D(),params:{pipetteId:n,labwareId:a,wellName:s,wellLocation:o,...l!=null?{forceDirect:l}:{},...i!=null?{minimumZHeight:i}:{},...u!=null?{speed:u}:null}}],E=[`${L}[${N(s)}]${An(o)}`,...l?["force_direct=True"]:[],...i?[`minimum_z_height=${i}`]:[],...u?[`speed=${u}`]:[]];return{commands:A,python:`${I}.move_to(${E.join(", ")})`}},cl=(e,t,r)=>{const{pipetteId:n,labwareId:a,wellName:s,tipTrackingOption:o=Qu,nozzles:i,primaryNozzle:l}=e,u=[],p=t.pipetteEntities[n].spec.channels,d=wt({robotState:r,invariantContext:t,pipetteId:n,labwareId:a,wellLocationOffset:{x:0,y:0},wellTargetName:s,nozzleConfiguration:i,primaryNozzle:l}),f=fy({tipState:r.tipState.tipracks[a],primaryNozzle:l,channels:p,nozzleConfiguration:i,wellName:s,tiprackDef:t.labwareEntities[a].def});d||u.push($r()),f.isSafe||u.push(sb()),f.isComplete!==!0&&u.push(ob());const _=z(r.labware[a].stack);if(De.includes(_))u.push(Ft({typeOfStep:"pick up tip"}));else if(r.labware[_]!=null){const T=z(r.labware[_].stack);De.includes(T)&&u.push(Ft({typeOfStep:"pick up tip"}))}const m=t.pipetteEntities[n].pythonName,h=t.labwareEntities[a].pythonName,b=`${m}.pick_up_tip(location=${h}${o===Et?`[${N(s)}]`:""})`;return u.length>0?{errors:u}:{commands:[{commandType:"pickUpTip",key:D(),params:{pipetteId:n,labwareId:a,wellName:s}}],python:b}},Eg=(e,t,r)=>{const{moduleId:n,taskId:a,profileElements:s,blockMaxVolumeUl:o}=e,i=t.moduleEntities[n].pythonName,l=hy(e.profileElements),u=l.repeatingProfileSteps.map(m=>`{${N("temperature")}: ${m.celsius}, ${N("hold_time_seconds")}: ${m.holdSeconds}},`).join(`
+`),d=`${`[
+${Z(u)}
 ],`}
 ${l.numRepetitions},
-`+(e.blockMaxVolumeUl!==void 0?`block_max_volume=${e.blockMaxVolumeUl},`:""),y=(a!=null?`${a} = `:"")+`${s}.start_execute_profile(
-${ve(p)}
-)`;return{commands:[{commandType:"thermocycler/startRunExtendedProfile",key:ne(),params:{moduleId:n,taskId:a,profileElements:o,blockMaxVolumeUl:i}}],python:y}},qt=(e,t,r)=>{const{pipetteId:n}=e,a=t.pipetteEntities[n].pythonName;return{commands:[{commandType:"prepareToAspirate",key:ne(),params:{pipetteId:n}}],python:`${a}.prepare_to_aspirate()`}},bg=(e,t,r)=>{const{moduleId:n,celsius:a}=e;if(n===null)return{errors:[ke()]};const o=t.moduleEntities[n],i=o?.type;return i===f.TEMPERATURE_MODULE_TYPE?{commands:[{commandType:"temperatureModule/setTargetTemperature",key:ne(),params:{moduleId:n,celsius:a}}],python:`${o?.pythonName}.start_set_temperature(${a})`}:i===f.THERMOCYCLER_MODULE_TYPE?(console.error("Thermocycler set temp not implemented!"),{commands:[]}):i===f.HEATERSHAKER_MODULE_TYPE?{commands:[{commandType:"heaterShaker/setTargetTemperature",key:ne(),params:{moduleId:n,celsius:a}}],python:`${o?.pythonName}.set_target_temperature(${a})`}:(console.error(`setTemperature expected module ${n} to be ${f.TEMPERATURE_MODULE_TYPE}, ${f.THERMOCYCLER_MODULE_TYPE} or ${f.HEATERSHAKER_MODULE_TYPE}, got ${i}`),{errors:[ke()]})},Ct=(e,t,r)=>{const n="touchTip",{pipetteId:a,labwareId:o,wellName:i,zOffsetFromTop:s,speed:l,mmFromEdge:u}=e,c=r.pipettes[a],p=[];if(c||p.push(ft({pipette:a})),r.tipState.pipettes[a]?.hasTip||p.push(Ft({actionName:n,pipette:a,labware:o,well:i})),p.length>0)return{errors:p};const d=t.pipetteEntities[a].pythonName,b=[`${t.labwareEntities[o].pythonName}[${ee(i)}]`,`v_offset=${s}`,...l!=null?[`speed=${l}`]:[],...u!=null?[`mm_from_edge=${u}`]:[]],h=`${d}.touch_tip(${b.join(", ")})`;return{commands:[{commandType:"touchTip",key:ne(),params:{pipetteId:a,labwareId:o,wellName:i,wellLocation:{origin:f.WELL_ORIGIN_TOP,offset:{z:s}},speed:l,mmFromEdge:u}}],python:h}},gg=(e,t,r)=>{const{moduleId:n,celsius:a}=e,o=n?St(r,n):null,i=[];if(n===null||!o)return{errors:[ke()]};if(o.type!==f.TEMPERATURE_MODULE_TYPE&&o.type!==f.HEATERSHAKER_MODULE_TYPE)return console.error(`expected module to be ${f.TEMPERATURE_MODULE_TYPE} but got ${o.type}`),{errors:[ke()]};const s="status"in o&&o.status===Zc&&o.targetTemperature!==a,l="status"in o&&o.status===Jc&&o.targetTemperature!==a;if(s||"status"in o&&o.status===ba||"targetTemp"in o&&o.targetTemp==null)return{errors:[Z_()]};l&&i.push(iI());const u=t.moduleEntities[n],c=u?.type;switch(c){case f.TEMPERATURE_MODULE_TYPE:return{commands:[{commandType:"temperatureModule/waitForTemperature",key:ne(),params:{moduleId:n,celsius:a}}],warnings:i.length>0?i:void 0,python:`${u?.pythonName}.await_temperature(${a})`};case f.HEATERSHAKER_MODULE_TYPE:return{commands:[{commandType:"heaterShaker/waitForTemperature",key:ne(),params:{moduleId:n,celsius:a}}],warnings:i.length>0?i:void 0,python:`${u?.pythonName}.wait_for_temperature()`};default:return console.error(`awaitTemperature expected module ${n} to be ${f.TEMPERATURE_MODULE_TYPE} or ${f.HEATERSHAKER_MODULE_TYPE}, got ${c}`),{errors:[ke()]}}};function ae(e,t){return(r,n)=>e(t,r,n)}function j(e,t){return(r,n)=>{const a=e(t,r,n);if("python"in a){const{python:o,...i}=a;return i}return a}}const Qe="__air__",$r="source_well",In="dest_well",_g=(e,t,r)=>{const o=f.getDeckDefFromRobotType(r).cutoutFixtures.find(l=>l.id.includes(t))?.providesAddressableAreas,s=(l=>{if(o!=null){for(const u in o)if(o[u].includes(l))return u}return null})(e);if(s==null)throw Error(`expected to find cutoutId from addressableAreaName ${e} but could not`);return s};function Tg(e){switch(e){case 1:return f.ONE_CHANNEL_WASTE_CHUTE_ADDRESSABLE_AREA;case 8:return f.EIGHT_CHANNEL_WASTE_CHUTE_ADDRESSABLE_AREA;case 96:return f.NINETY_SIX_CHANNEL_WASTE_CHUTE_ADDRESSABLE_AREA}}function Ip(e){const t=f.getDeckDefFromRobotType(e==="cutout12"?f.OT2_ROBOT_TYPE:f.FLEX_ROBOT_TYPE);let r=null;return t.robot.model===f.FLEX_ROBOT_TYPE&&(r=t.cutoutFixtures.find(n=>n.id==="trashBinAdapter")?.providesAddressableAreas??null),t.robot.model===f.FLEX_ROBOT_TYPE&&r==null&&console.error(`expected to find a list of cutouts for the Flex but could not with trashLocation ${e}`),r!=null?r[e]?.[0]:"fixedTrash"}function Eg(e){if(e==="fixedTrash")return"cutout12";const r=f.getDeckDefFromRobotType(f.FLEX_ROBOT_TYPE).cutoutFixtures.find(n=>n.id==="trashBinAdapter")?.providesAddressableAreas??null;if(r==null)return console.error("Could not find trashBinAdapter cutouts for Flex"),null;for(const[n,a]of Object.entries(r))if(a.includes(e))return n;return console.error(`Could not find trashLocation for addressableAreaName ${e}`),null}function Sn(e,t,r,n){return e[n]!=null?"labware":t[n]!=null?"wasteChute":r[n]!=null?"trashBin":(console.error(`expected to determine if dest labware is a labware or waste chute with destLabware ${n} but could not`),null)}function wg(e,t){return dn(ln(t),r=>e)}function ur(e){return pt(e,(t,r,n)=>n===Qe?t:t+r.volume,0)}function zt(e,t){const r=ur(t);if(r===0)return{source:t,dest:{[Qe]:{volume:e}}};if(e>r)return{source:Wt(t,()=>({volume:0})),dest:{...t,[Qe]:{volume:e-r}}};const n=pt(t,(a,o,i)=>({...a,[i]:o.volume/r}),{});return Object.keys(t).reduce((a,o)=>{const i=n[o]*e;return{source:{...a.source,[o]:{volume:t[o].volume-i}},dest:{...a.dest,[o]:{volume:i}}}},{source:{},dest:{}})}function cr(e,t){return{...t,...pt(e,(r,n,a)=>{const i=a in t?n.volume+t[a].volume:n.volume;return{...r,[a]:{volume:i}}},{})}}function Sp(e,t,r){const n=e===1?[r]:f.getWellNamePerMultiTip(t,r,e);if(!n)return console.warn(e===1?`Invalid well: ${r}`:`For labware def (URI ${f.getLabwareDefURI(t)}), with primary well ${r}, no wells are accessible by 8-channel's 1st tip`),{wellsForTips:[],allWellsShared:!1};const a=n.every(o=>o&&o===n[0]);return{wellsForTips:n,allWellsShared:a}}const Ig=e=>{const{pipette:t,sourceLabwareId:r,sourceWell:n,destLabwareId:a,destWell:o,blowoutLocation:i,flowRate:s,offsetFromTopMm:l,invariantContext:u}=e;if(!i)return[];const{trashBinEntities:c,wasteChuteEntities:p}=u;let d=null,y=null;return i===$r?(d=r,y=n):i===In&&(d=a,y=o),y!=null&&d!=null?[ae(ag,{pipetteId:t,labwareId:d,wellName:y,flowRate:s,wellLocation:{origin:"top",offset:{z:l}}})]:p[i]!=null?[ae(D_,{pipetteId:t,flowRate:s,wasteChuteId:Object.keys(p)[0]})]:[ae(C_,{pipetteId:t,trashId:Object.keys(c)[0],flowRate:s})]};function Sg(e){const{labwareEntities:t,pipetteEntities:r,wasteChuteEntities:n,trashBinEntities:a}=e;return{pipettes:pt(r,(o,i,s)=>{const l=i.spec;return{...o,[s]:Ag(l.channels,{})}},{}),labware:pt(t,(o,i,s)=>({...o,[s]:Wt(i.def.wells,()=>({}))}),{}),trashBins:pt(a,(o,i,s)=>({...o,[s]:{}}),{}),wasteChute:pt(n,(o,i,s)=>({...o,[s]:{}}),{})}}function Ag(e,t){return ln(e).reduce((r,n)=>({...r,[n]:t}),{})}const 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d_=(e,t)=>e.tipracks[t]!=null?Object.values(e.tipracks[t]).some(r=>r!==se):!1,f_=(e,t)=>e.labware[t]!=null?Object.values(e.labware[t]).some(r=>Object.values(r).some(n=>n.volume>0)):!1,Cg=(e,t,r)=>{const{destinationId:n,pipetteId:a,volume:s,flowRate:o,offsetFromBottomMm:i,well:l,xOffset:u,yOffset:p,tipRack:d,primaryNozzle:f,nozzles:_}=e,{labwareEntities:m,trashBinEntities:h,wasteChuteEntities:b}=t,T=Ln(m,b,h,n);let y=[];return T==="labware"&&i!=null&&l!=null?y=[U(Qh,{pipetteId:a,volume:s,labwareId:n,wellName:l,flowRate:o,wellLocation:{origin:"bottom",offset:{z:i,x:u,y:p}},tipRack:d,primaryNozzle:f,nozzles:_})]:T==="wasteChute"?y=[U(gA,{pipetteId:a,volume:s,flowRate:o,wasteChuteId:b[n].id})]:y=[U(TA,{pipetteId:a,volume:s,flowRate:o,trashId:h[n].id})],ce(y,t,r)},Dg=(e,t,r)=>{const{destinationId:n,pipetteId:a,zOffset:s,well:o}=e,{labwareEntities:i,wasteChuteEntities:l,trashBinEntities:u}=t,p=Ln(i,l,u,n);let d=[];return 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t=e.currentPumpActivity.ventAfter;return e.currentPumpActivity={type:"pumpDeactivated"},e.ventStatus=t?ns:Ia,!0}return!1};function jE(e,t,r){for(const n of e.task_ids)$_(n,r)||r.warnings.push(Tg())}const $_=(e,t,r)=>{const{robotState:n}=t,a=Object.values(n.modules).find(s=>{if(r&&s.moduleState.type!==r)return!1;const o=s.moduleState.type==="thermocyclerModuleType"&&s.moduleState.currentBlockActivity.type==="profile"&&s.moduleState.currentBlockActivity.taskId===e,i=s.moduleState.type==="vacuumModuleType"&&(s.moduleState.currentPumpActivity.type==="timedHold"||s.moduleState.currentPumpActivity.type==="profile")&&s.moduleState.currentPumpActivity.taskId===e;return o||i});return a==null?!1:a.moduleState.type==="thermocyclerModuleType"?ME(a.moduleState):a.moduleState.type==="vacuumModuleType"?HE(a.moduleState):(console.log(`unexpected module type with task: ${a.moduleState.type}`),!1)},On=(e,t)=>{const r=At(e,t);return r.type===c.HEATERSHAKER_MODULE_TYPE?r:(console.error(`Heater-Shaker 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V_(e,t){e.type===c.MAGNETIC_MODULE_TYPE&&(e.engaged=t)}function JE(e,t,r){const{moduleId:n}=e,{robotState:a}=r,s=At(a,n);V_(s,!0)}function ew(e,t,r){const{moduleId:n}=e,{robotState:a}=r,s=At(a,n);V_(s,!1)}const hu=(e,t)=>{if(t==null)return console.error("expected to find defURI but could not in getLabwareByDefURI"),null;const r=e.findIndex(a=>a.labwareDefURI===t);if(r===-1)return null;const[n]=e.splice(r,1);return n.id},x_=(e,t,r,n)=>{const a=e.labwareInHopper??[];t.forEach(s=>{const{primaryLabwareId:o,adapterLabwareId:i,lidLabwareId:l}=s;r.labware[o]={stack:[o,...l!=null?[l]:[],...n]},i!=null&&(r.labware[i]={stack:[i,o,...l!=null?[l]:[],...n]}),l!=null&&(r.labware[l]={stack:[l,...n]}),a.push({primaryLabwareId:o,adapterLabwareId:i??null,lidLabwareId:l??null})}),e.labwareInHopper=a},H_=(e,t,r,n,a,s,o,i)=>{const u=Object.entries(e.labware).filter(([d,f])=>f[s]===t[s]).map(([d])=>d).map(d=>r[d]),p=[];for(let d=0;d<n;d++){const f=hu(u,t.storedLabwareDetails?.primaryLabwareURI),_=o!=null?hu(u,t.storedLabwareDetails?.adapterLabwareURI):null,m=i!=null?hu(u,t.storedLabwareDetails?.lidLabwareURI):null;f!=null&&(e.labware[f]={stack:[f,...m!=null?[m]:[],...a]},_!=null&&(e.labware[_]={stack:[_,f,...m!=null?[m]:[],...a]}),m!=null&&(e.labware[m]={stack:[m,...a]}),p.push({primaryLabwareId:f,adapterLabwareId:_,lidLabwareId:m})),t.labwareInHopper=p}},tw=(e,t,r)=>{const{robotState:n}=r,{moduleId:a}=e,s=Object.entries(n.labware).filter(([,i])=>i.stack.includes(He)&&i.stack.includes(a)),o=dt(n,a);o!=null&&o.labwareInHopper!=null&&(e.count!=null?o.labwareInHopper=o.labwareInHopper.slice(0,e.count):o.labwareInHopper=[]),s.forEach(([i])=>{n.labware[i]={...n.labware[i],stack:[i,c.SYSTEM_LOCATION]}})},rw=(e,t,r)=>{const{robotState:n}=r,{labwareEntities:a}=t,{moduleId:s,labware:o}=e,i=n.modules[s].slot,l=dt(n,s);if(l==null||l.storedLabwareDetails==null)return;const{primaryLabwareURI:u,adapterLabwareURI:p,lidLabwareURI:d}=l.storedLabwareDetails,f=[];for(const b of o){const T=a[b].labwareDefURI;if(T===u)f.push({primaryLabwareId:b,adapterLabwareId:null,lidLabwareId:null});else if(T===p){const y=f[f.length-1];y&&(y.adapterLabwareId=b)}else if(T===d){const y=f[f.length-1];y&&(y.lidLabwareId=b)}}const _=[He,s,i];for(const b of f){const T=[b.adapterLabwareId,b.primaryLabwareId,b.lidLabwareId,..._].filter(S=>S!=null);n.labware[b.primaryLabwareId]={...n.labware[b.primaryLabwareId],stack:T.slice(T.indexOf(b.primaryLabwareId))},b.adapterLabwareId!=null&&(n.labware[b.adapterLabwareId]={...n.labware[b.adapterLabwareId],stack:T.slice(T.indexOf(b.adapterLabwareId))}),b.lidLabwareId!=null&&(n.labware[b.lidLabwareId]={...n.labware[b.lidLabwareId],stack:T.slice(T.indexOf(b.lidLabwareId))});let y=null;for(const S of T)a[S]!=null&&(y==null?n.labware[S].stackedOnNode={kind:"inStackerHopper",moduleId:s}:n.labware[S].stackedOnNode={labwareId:y},y=S)}const m=l.labwareInHopper??[],h=f.map(({primaryLabwareId:b,adapterLabwareId:T,lidLabwareId:y})=>({primaryLabwareId:b,adapterLabwareId:T,lidLabwareId:y}));l.labwareInHopper=[...m,...h]},nw=(e,t,r)=>{const{robotState:n}=r,{labwareEntities:a}=t,{moduleId:s,primaryLabware:o,initialCount:i,adapterLabware:l,lidLabware:u,initialStoredLabware:p}=e,d=n.modules[s].slot,f=dt(n,s),_=[He,s,d];f!=null&&(f.storedLabwareDetails={primaryLabwareURI:`${o.namespace}/${o.loadName}/${o.version}`,adapterLabwareURI:l!=null?`${l.namespace}/${l.loadName}/${l.version}`:null,lidLabwareURI:u!=null?`${u.namespace}/${u.loadName}/${u.version}`:null},i!=null?H_(n,f,a,i,_,"setStoredLabwareCount",l?.loadName,u?.loadName):p!=null&&x_(f,p,n,_),f.setStoredLabwareCount=(f?.setStoredLabwareCount??0)+1)},aw=(e,t,r)=>{const{robotState:n}=r,{moduleId:a,labware:s}=e,{labwareEntities:o}=t,i=n.modules[a].slot,l=dt(n,a);if(l==null)return;const u=s.map(g=>g.split(":")[1]),p=new Set(u),d=Array.from(p),f=d.find(g=>Object.values(o).find(I=>I.labwareDefURI===g&&!I.def.allowedRoles?.includes("lid")&&!I.def.allowedRoles?.includes("adapter"))),_=d.find(g=>Object.values(o).find(I=>I.labwareDefURI===g&&I.def.allowedRoles?.includes("adapter"))),m=d.find(g=>Object.values(o).find(I=>I.labwareDefURI===g&&I.def.allowedRoles?.includes("lid")));if(f==null)throw new Error(`expected to find primaryLabwareURI for storedLabwareDetails but could not with labware ${s}`);l.storedLabwareDetails={primaryLabwareURI:f,adapterLabwareURI:_??null,lidLabwareURI:m??null};const h=[];for(const g of s){const I=o[g].labwareDefURI;if(I===f)h.push({primary:g,adapter:null,lid:null});else if(I===_){const L=h[h.length-1];L&&(L.adapter=g)}else if(I===m){const L=h[h.length-1];L&&(L.lid=g)}}const b=[He,a,i];for(const g of h){const I=[g.adapter,g.primary,g.lid,...b].filter(L=>L!=null);n.labware[g.primary]={...n.labware[g.primary],stack:I.slice(I.indexOf(g.primary))},g.adapter!=null&&(n.labware[g.adapter]={...n.labware[g.adapter],stack:I.slice(I.indexOf(g.adapter))}),g.lid!=null&&(n.labware[g.lid]={...n.labware[g.lid],stack:I.slice(I.indexOf(g.lid))})}const T=l.labwareInHopper??[],y=h.map(g=>({primaryLabwareId:g.primary,adapterLabwareId:g.adapter,lidLabwareId:g.lid})),S=new Map(T.map(g=>[g.primaryLabwareId,g])),w=[];for(const g of y)w.push(g),S.delete(g.primaryLabwareId);for(const g of T)S.has(g.primaryLabwareId)&&w.push(g);l.labwareInHopper=w},sw=(e,t,r)=>{const{robotState:n}=r,{moduleId:a,count:s,labwareToStore:o}=e,{labwareEntities:i}=t,l=n.modules[a].slot,u=dt(n,a),p=[He,a,l];if(u!=null){const d=u.storedLabwareDetails?.adapterLabwareURI,f=u.storedLabwareDetails?.lidLabwareURI;s!=null?H_(n,u,i,s,p,"fillCount",d,f):o!=null&&x_(u,o,n,p),u.fillCount=(u?.fillCount??0)+1}},ow=(e,t,r)=>{const{robotState:n}=r,{moduleId:a}=e,s=dt(n,a),o=n.modules[a].slot;if(s!=null){const{labwareInHopper:i,labwareOnShuttle:l}=s;if(i!=null&&i.length>0&&l==null){const u=i[0];s.labwareOnShuttle=u,i.shift();const p=[o];let d=null;for(const f of Yt){const _=u[f];if(_!=null){if(p.unshift(_),n.labware[_].stack=[...p],d==null){const m=bs(o);m!=null?n.labware[_].stackedOnNode={addressableAreaName:m}:console.warn(`Could not find an addressable area for retrieved labware in stacker module ${a} at slot ${o}`)}else n.labware[_].stackedOnNode={labwareId:d};d=_}}}}},iw=(e,t,r)=>{const{robotState:n}=r,{moduleId:a}=e,s=dt(n,a),o=n.modules[a].slot;if(s!=null){const{labwareOnShuttle:i}=s;if(i!=null){s.labwareInHopper=[i,...s.labwareInHopper??[]],s.labwareOnShuttle=null;let l=null;for(const u of Yt){const p=i[u];p!=null&&(n.labware[p].stack=[p,He,a,o],l==null?(n.labware[p].stackedOnNode={kind:"inStackerHopper",moduleId:a},l=p):n.labware[p].stackedOnNode={labwareId:l})}s.storedLabwareDetails==null&&(s.storedLabwareDetails={primaryLabwareURI:t.labwareEntities[i.primaryLabwareId].labwareDefURI,adapterLabwareURI:i.adapterLabwareId!=null?t.labwareEntities[i.adapterLabwareId].labwareDefURI:null,lidLabwareURI:i.lidLabwareId!=null?t.labwareEntities[i.lidLabwareId].labwareDefURI:null})}}};function j_(e,t,r){e.type===c.TEMPERATURE_MODULE_TYPE&&(e.targetTemperature=t,e.status=r)}function lw(e,t,r){const{robotState:n}=r,{moduleId:a,celsius:s}=e,o=At(n,a);j_(o,s,Zu)}function uw(e,t,r){const{robotState:n}=r,{moduleId:a,celsius:s}=e,o=At(n,a);o.type===c.TEMPERATURE_MODULE_TYPE&&s===o.targetTemperature&&(o.status=Xu)}function cw(e,t,r){const{robotState:n}=r,{moduleId:a}=e,s=At(n,a);j_(s,null,Ta)}function z_(e,t,r){if(!e)throw new Error("undefined command passed to getNextRobotStateAndWarning");switch(e.commandType){case"aspirateWhileTracking":case"aspirate":case"aspirateInPlace":if(e.meta?.isAirGap===!0)break;II(e.params,t,r);break;case"airGapInPlace":oI(e.params,t,r);break;case"dispenseWhileTracking":case"dispense":case"dispenseInPlace":if(e.meta?.isAirGap===!0)break;AI(e.params,t,r);break;case"blowout":EI(e.params,t,r);break;case"dropTip":SI(e.params,t,r);break;case"pickUpTip":EE(e.params,t,r);break;case"setTipState":AE(e.params,t,r);break;case"magneticModule/engage":JE(e.params,t,r);break;case"magneticModule/disengage":ew(e.params,t,r);break;case"moveLabware":TE(e.params,t,r);break;case"waitForTasks":jE(e.params,t,r);break;case"flexStacker/setStoredLabware":nw(e.params,t,r);break;case"flexStacker/setStoredLabwareItems":aw(e.params,t,r);break;case"flexStacker/prepareShuttle":case"flexStacker/closeLatch":case"flexStacker/openLatch":break;case"flexStacker/empty":tw(e.params,t,r);break;case"flexStacker/fill":sw(e.params,t,r);break;case"flexStacker/fillItems":rw(e.params,t,r);break;case"flexStacker/retrieve":ow(e.params,t,r);break;case"flexStacker/store":iw(e.params,t,r);break;case"touchTip":case"configureForVolume":case"loadPipette":case"loadLabware":case"loadModule":case"home":case"moveRelative":case"moveToSlot":case"moveToCoordinates":case"savePosition":case"waitForResume":case"waitForDuration":case"pause":case"delay":case"custom":case"comment":case"captureImage":case"prepareToAspirate":case"liquidProbe":case"loadLiquidClass":case"loadLidStack":case"loadLid":case"getTipPresence":case"identifyModule":case"getNextTip":case"retractAxis":case"sealPipetteToTip":case"tryLiquidProbe":case"unsealPipetteFromTip":case"verifyTipPresence":case"pressureDispense":case"createTimer":break;case"moveToAddressableArea":case"moveToAddressableAreaForDropTip":gE(e.params,t,r);break;case"moveToWell":IE(e.params,t,r);break;case"loadLiquid":LI(e.params,t,r);break;case"dropTipInPlace":QE(e.params,t,r);break;case"blowOutInPlace":ZE(e.params,t,r);break;case"configureNozzleLayout":wI(e.params,t,r);break;case"temperatureModule/setTargetTemperature":lw(e.params,t,r);break;case"temperatureModule/deactivate":cw(e.params,t,r);break;case"temperatureModule/waitForTemperature":uw(e.params,t,r);break;case"thermocycler/setTargetBlockTemperature":SE(e.params,t,r);break;case"thermocycler/setTargetLidTemperature":LE(e.params,t,r);break;case"thermocycler/waitForBlockTemperature":OE(e.params);break;case"thermocycler/waitForLidTemperature":RE(e.params);break;case"thermocycler/deactivateBlock":vE(e.params,t,r);break;case"thermocycler/deactivateLid":PE(e.params,t,r);break;case"thermocycler/closeLid":NE(e.params,t,r);break;case"thermocycler/openLid":CE(e.params,t,r);break;case"thermocycler/runProfile":DE(e.params,t,r);break;case"thermocycler/runExtendedProfile":U_(e.params,t,r);break;case"thermocycler/startRunExtendedProfile":B_(e.params,t,r);break;case"thermocycler/awaitProfileComplete":kE(e.params);break;case"heaterShaker/deactivateHeater":GE(e.params,t,r);break;case"heaterShaker/setTargetTemperature":zE(e.params,t,r);break;case"heaterShaker/setAndWaitForShakeSpeed":WE(e.params,t,r);break;case"heaterShaker/deactivateShaker":YE(e.params,t,r);break;case"heaterShaker/openLabwareLatch":KE(e.params,t,r);break;case"heaterShaker/closeLabwareLatch":XE(e.params,t,r);break;case"heaterShaker/waitForTemperature":break;case"absorbanceReader/openLid":nI(e.params,t,r);break;case"absorbanceReader/closeLid":aI(e.params,t,r);break;case"absorbanceReader/initialize":sI(e.params,t,r);break;case"absorbanceReader/read":break;case"vacuumModule/startSetVacuumPressure":BE(e.params,t,r);break;case"vacuumModule/startSetVacuumPower":$E(e.params,t,r);break;case"vacuumModule/openVent":qE(e.params,t,r);break;case"vacuumModule/closeVent":UE(e.params,t,r);break;case"vacuumModule/stopVacuum":VE(e.params,t,r);break;case"vacuumModule/startRunProfile":xE(e.params,t,r);break;default:console.error(`unknown command: ${e.commandType} passed to getNextRobotStateAndWarning`)}}function G_(e,t,r){return L_({warnings:[],robotState:r},a=>{z_(e,t,a)})}function Bc(e,t,r){const n=O_(e);return L_({warnings:[],robotState:r},s=>{n.forEach(o=>{z_(o,t,s)})})}const pw=(e,t,r)=>{const n=e.reduce((a,s,o)=>{const i=a.timeline.length===0?r:Oc(a.timeline).robotState;if(a.errors!=null)return a;const l=s(t,i);if("errors"in l)return{timeline:a.timeline,errors:l.errors};const p=O_(l.commands).reduce((f,_)=>G_(_,t,f.robotState),{robotState:i,warnings:[]}),d={commands:l.commands,robotState:p.robotState,warnings:l.warnings,stepInfo:{stepNumber:l.stepNumber,name:l.name,description:l.description},python:l.python};return{timeline:[...a.timeline,d],errors:null}},{timeline:[],errors:null});return{timeline:n.timeline,errors:n.errors}},Rn=(e,t)=>{const r=t[e]?.stack;return r!=null?z(r):""},kn=e=>{if(e.type===c.VACUUM_MODULE_TYPE){const t=e;return t.currentPumpActivity.type==="timedHold"||t.currentPumpActivity.type==="profile"}if(e.type===c.THERMOCYCLER_MODULE_TYPE){const t=e;return t.currentBlockActivity.type==="profile"||t.currentBlockActivity.type==="blockTargetTemp"}return!1},vn=e=>{const{pipette:t,labware:r,invariantContext:n,prevRobotState:a}=e;if(n.config.OT_PD_DISABLE_MODULE_RESTRICTIONS)return!1;const s=t?n.pipetteEntities[t]:null,o=r?z(a.labware[r]?.stack):null;if(!t||!r||!s||!o)return!1;const i=Object.keys(n.moduleEntities).some(l=>{const u=n.moduleEntities[l].model;if(dh.includes(u)){const p=a.modules[l]?.slot;return p==="1"&&o==="4"||p==="3"&&o==="6"}else return!1});return c.GEN_ONE_MULTI_PIPETTES.includes(s.name)&&i},ce=(e,t,r)=>{const n=e.reduce((a,s)=>{if(a.errors.length>0)return a;const o=s(t,a.robotState);if("errors"in o)return{robotState:a.robotState,commands:a.commands,errors:o.errors,warnings:a.warnings};const i=[...a.commands,...o.commands],l=[...a.python?[a.python]:[],...o.python?[o.python]:[]].join(`
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-`),y=ve(d);return`lid_stack_${o} = ${$e}.load_lid_stack(
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+${a}`:""}const Gw=(e,t,r)=>e.reduce((n,{id:a,labwareDefURI:s,def:o})=>{const{stack:i}=r[a],l=i.length-1,u=i.slice(1,l),p=u.find(T=>t[T]?.def.parameters.loadName==="opentrons_flex_deck_riser"),d=u.every(T=>t[T]?.labwareDefURI===s)||p!=null,f=o.parameters.loadName;if(!d)return n;const _=p!=null?t[p]?.pythonName:z(i),m=i.length-(p!=null?2:1);if(!(_ in n))return{...n,[_]:{loadName:f,quantity:m}};const{quantity:h}=n[_],b=Vw([h,m])??h;return{...n,[_]:{loadName:f,quantity:b}}},{}),ty=(e,t)=>{const r=Object.values(e).filter(s=>s.def.allowedRoles?.includes("lid")),n=Gw(r,e,t),a=Object.entries(n).map(([s,{loadName:o,quantity:i}])=>{const l=Object.values(e).some(({pythonName:m})=>m===s),u=`load_name=${N(o)}`,p=`location=${l?s:N(s)}`,d=`quantity=${i}`,f=[u,p,d].join(`,
+`),_=Z(f);return`lid_stack_${s} = ${ge}.load_lid_stack(
+${_},
 )`}).join(`
 `);return a?`# Load Lid Stacks:
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-${ve(X)},
-)`]}else{const X=[`${Oo}[${ee(f.getLabwareDefURI(p))}]`,...V?[V]:[],...$?[$]:[]].join(`,
-`);return[...l,`${d} = ${N}.load_labware_from_definition(
-${ve(X)},
+${a}`:""},Ww=e=>{const{parameters:t,namespace:r,version:n}=e;return[`lid=${N(t.loadName)}`,`lid_namespace=${N(r)}`,`lid_version=${n}`]};function ry(e,t,r,n,a){const s=Object.values(r).filter(l=>!l.def.allowedRoles?.includes("adapter")&&!l.def.allowedRoles?.includes("lid")),o=Object.values(r).filter(l=>l.def.allowedRoles?.includes("lid")),i=Object.values(s).reduce((l,u)=>{const{id:p,def:d,pythonName:f}=u,{metadata:_,parameters:m,namespace:h,version:b}=d,T=Object.values(o).find(F=>n[F.id].stack[1]===p),y=a[p]!=null&&a[p]!==_.displayName,S=n[p].stack.includes(He),w=n[p].stack[1],g=z(n[p].stack),I=Object.entries(e).find(([F,te])=>te.slot===g&&te.moduleState.type===c.FLEX_STACKER_MODULE_TYPE),L=t[w]!=null||g===I?.[1].slot&&!S,A=r[w]!=null;let E,k;if(A&&!S)E=r[w].pythonName;else if(L){const F=I!=null?I?.[0]:w;E=t[F].pythonName}else E=ge,k=`location=${w==="offDeck"||S?oa:N(w)}`;const R=y?`label=${N(a[p])}`:void 0;if(c.getLabwareDefIsStandard(d)){const F=[`${N(m.loadName)}`,...k?[k]:[],...R?[R]:[],`namespace=${N(h)}`,`version=${b}`,...T!=null?Ww(T.def):[]].join(`,
+`);return[...l,`${f} = ${E}.load_labware(
+${Z(F)},
+)`]}else{const F=[`${hs}[${N(c.getLabwareDefURI(d))}]`,...k?[k]:[],...R?[R]:[]].join(`,
+`);return[...l,`${f} = ${E}.load_labware_from_definition(
+${Z(F)},
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-`);return s?`# Load Labware:
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+`);return i?`# Load Labware:
+${i}`:""}function ny(e,t){const r=Object.values(e).map(n=>{const{name:a,id:s,spec:o,pythonName:i}=n,l=o.channels===96?"":N(t[s].mount),u=c.isFlexPipette(a)?c.getFlexNameConversion(o):a;return`${i} = ${ge}.load_instrument(${[N(u),...l?[l]:[]].join(", ")})`}).join(`
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-`);return`${n} = ${$e}.define_liquid(
-${ve(s)},
+${r}`:""}function ay(e){const t=Object.values(e).map(r=>{const{pythonName:n,displayColor:a,displayName:s,description:o}=r,i=[`${N(s)}`,...o?[`description=${N(o)}`]:[],`display_color=${N(a)}`].join(`,
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-`),y=[`wells=[${u.length<8?u.join(", "):`
-${p}
+${t}`:""}function sy(e,t,r){const n=Object.entries(e).reduce((s,[o,i])=>{const l=r[o].pythonName;return Object.entries(i).forEach(([u,p])=>{Object.entries(p).forEach(([d,f])=>{const _=t[d].pythonName,m=`${l}__${_}__${f.volume}`;s[m]||(s[m]={labwarePythonName:l,liquidPythonName:_,volume:f.volume,wells:[]}),s[m].wells.push(u)})}),s},{}),a=Object.values(n).map(({labwarePythonName:s,liquidPythonName:o,volume:i,wells:l})=>{const u=l.map(m=>N(m)),d=_s(u,8).map(m=>La+m.join(", ")).join(`,
+`),_=[`wells=[${u.length<8?u.join(", "):`
+${d}
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-liquid=${i},
-volume=${s},
-`].join();return`${o}.load_liquid(
-${ve(y)})`}).join(`
+liquid=${o},
+volume=${i},
+`].join();return`${s}.load_liquid(
+${Z(_)})`}).join(`
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+${t}`:""}function ly(e){const t=Object.values(e)?.map(r=>`${r.pythonName} = ${ge}.load_waste_chute()`);return t.length>0?`# Load Waste Chute:
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 `+e.split(/\r\n|\r|\n/).map(t=>`# ${t}`).join(`
-`):"";function S_(e){return`# PROTOCOL STEPS
+`):"";function uy(e){return`# PROTOCOL STEPS
 
-`+e.timeline.map(t=>{const{stepInfo:r}=t,n=r?.description;return`# Step ${r?.stepNumber}: ${r?.name}${bO(n)}
+`+e.timeline.map(t=>{const{stepInfo:r}=t,n=r?.description;return`# Step ${r?.stepNumber}: ${r?.name}${Yw(n)}
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-`)}function gO(e,t,r,n,a,o,i){const{moduleEntities:s,labwareEntities:l,pipetteEntities:u,liquidEntities:c,wasteChuteEntities:p,trashBinEntities:d}=e,{modules:y,labware:b,pipettes:h}=t,T=[m_(s,y),h_(s,l,b),y_(l,b),b_(y,s,l,b,a),g_(u,h),...o===f.FLEX_ROBOT_TYPE?[w_(d),I_(p)]:[],__(c),T_(n,c,l),E_(i),A_(s,l,b,y,r),S_(r)].filter(m=>m).join(`
+`)}function Kw(e,t,r,n,a,s,o){const{moduleEntities:i,labwareEntities:l,pipetteEntities:u,liquidEntities:p,wasteChuteEntities:d,trashBinEntities:f}=e,{modules:_,labware:m,pipettes:h}=t,T=[J_(i,_),ey(i,l,m),ty(l,m),ry(_,i,l,m,a),ny(u,h),...s===c.FLEX_ROBOT_TYPE?[iy(f),ly(d)]:[],ay(p),sy(n,p,l),oy(o),cy(i,l,m,_,r),uy(r)].filter(y=>y).join(`
 
-`)||"pass";return`def run(${$e}: protocol_api.ProtocolContext) -> None:
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-`);return`${c}.set_stored_labware(
-${ve(T)}
-)`}else{const h=Object.values(y).filter(I=>!t[I[0]]?.def.allowedRoles?.includes("lid")).map(I=>t[I[0]].pythonName),T=vo(h,4).map(I=>Na+I.join(", ")).join(`,
-`),_=`labware=[${h.length<4?h.join(", "):`
+`)||"pass";return`def run(${ge}: protocol_api.ProtocolContext) -> None:
+${Z(T)}`}function Xw(e){const t=Object.values(e).filter(r=>!c.getLabwareDefIsStandard(r.def)).map(r=>r.def);if(t.length>0){const r=Object.fromEntries(t.map(n=>[c.getLabwareDefURI(n),n]));return`${hs} = json.loads("""${JSON.stringify(r)}""")`}else return""}const Ls=e=>{switch(e){case"perDest":return"per destination";case"perSource":return"per source";default:return e}},cy=(e,t,r,n,a)=>{const o=Object.values(e).map(i=>{const{id:l,type:u,pythonName:p}=i;if(u===c.FLEX_STACKER_MODULE_TYPE){const d=n[l].slot,f=a.timeline.map(h=>h.robotState.labware),_=Object.entries(r).filter(([h,b])=>b.stack.includes(l)&&b.stack.includes(He)),m=[...Object.entries(r),...f.flatMap(h=>Object.entries(h))].filter(([h,b])=>z(b.stack)===d&&!b.stack.includes(He));if(_.length===0){if(m.length===0)return"";const h=m.find(([y])=>t[y].def.allowedRoles?.includes("lid")),b=m.find(([y])=>!t[y].def.allowedRoles?.includes("lid"));if(b==null)return"";const T=[`load_name=${N(t[b[0]].def.parameters.loadName)}`,`namespace=${N(t[b[0]].def.namespace)}`,`version=${t[b[0]].def.version}`,"count=0",...h!=null?[`lid=${N(t[h[0]].def.parameters.loadName)}`]:[]].join(`,
+`);return`${p}.set_stored_labware(
+${Z(T)}
+)`}else{const h=Object.values(_).filter(w=>!t[w[0]]?.def.allowedRoles?.includes("lid")).map(w=>t[w[0]].pythonName),T=_s(h,4).map(w=>La+w.join(", ")).join(`,
+`),S=`labware=[${h.length<4?h.join(", "):`
 ${T}
 `}],
-`;return`${c}.set_stored_labware_items(
-${ve(_)})`}}}).filter(Boolean);return i.length>0?`# Set Stored Labware:
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-`).trimStart()}`:""},un={back_left:{x:-43.25,y:454.9,z:211.91},front_right:{x:128.75,y:402,z:211.91}},Zy={x:un.back_left.x,y:un.back_left.y,z:un.back_left.z},TO={x:un.front_right.x,y:un.front_right.y,z:un.front_right.z},O_=e=>{if(e.addressableArea?.areaType==="slot"){const t=`cutoutId${e.addressableArea?.id}`;if(t)return t}return null},EO=(e,t,r,n,a)=>{const{nozzleMap:o,pipetteBoundingBoxOffsets:i}=e.spec,s=o[n],l=i.backLeftCorner[0],u=i.frontRightCorner[0],c=i.backLeftCorner[1],p=i.frontRightCorner[1],d=r.x-(s[0]-l),y=r.x+(u-s[0]),b=r.y+(c-s[1]),h=r.y-(s[1]-p),g=(r.z??0)+t-a;return[{x:d,y:b,z:g},{x:y,y:h,z:g},{x:y,y:b,z:g},{x:d,y:h,z:g}]},v_=(e,t)=>{const r=e[1].x<t[0].x,n=e[0].x>t[1].x,a=e[0].y<t[1].y,o=e[1].y>t[0].y;return!(r||n||a||o)},Jy=(e,t)=>{if(t===f.FLEX_ROBOT_TYPE){const r=f.getDeckDefFromRobotType(t),{addressableAreas:n}=r.locations;return n.find(o=>o.id.includes(e))?.offsetFromCutoutFixture[2]??0}return f.getModuleDef(e).dimensions.bareOverallHeight},wO=e=>{const t=f.getDeckDefFromRobotType(e);return Object.values(t.cutoutFixtures).find(n=>f.WASTE_CHUTE_FIXTURES.includes(n.id))?.height??0},IO=(e,t,r,n)=>{const{modules:a,labware:o}=e,{moduleEntities:i,labwareEntities:s,wasteChuteEntities:l}=t;let u=0;const c=r?.addressableArea?.id;if(c){const p=Lp(o,c),d=Object.keys(a).find(b=>a[b].slot===c);Object.values(l).find(b=>b.location===O_(r))&&(u+=wO(n)),p.length>0?p.forEach(b=>{a[b]!=null&&(u+=Jy(i[b].model,n)),o[b]!=null&&(u+=s[b].def.dimensions.zDimension)}):d!=null&&(u+=Jy(i[d].model,n))}return u},SO=(e,t,r,n,a)=>{const o=Object.values(n.moduleEntities).some(({type:i})=>i===f.THERMOCYCLER_MODULE_TYPE);for(const i of t){const s=i.addressableArea?.boundingBox,l=i.position;if(o&&a===f.OT2_ROBOT_TYPE&&i.addressableArea?.id!=null&&Pb.includes(i.addressableArea.id))return!0;if(l==null||s==null)continue;const c={x:l[0],y:s.yDimension+l[1],z:l[2]},p={x:l[0]+s.xDimension,y:l[1],z:l[2]};if(v_([e[0],e[1]],[c,p])&&e[0].z!=null&&IO(r,n,i,a)>=e[0]?.z)return!0}return!1},AO=(e,t)=>Object.values(t).find(r=>r.type===f.THERMOCYCLER_MODULE_TYPE)?v_([Zy,TO],[e[0],e[1]])&&e[0].x<=Zy.z:!1,OO=(e,t,r,n,a)=>{const{wells:o}=e.def,i=o[t];return{x:i.x+r.x+(n?.[0]??0),y:i.y+r.y+(n?.[1]??0),z:a?i.z+(r.z??0)+(n?.[2]??0):e.def.dimensions.zDimension}},It=e=>{const{robotState:t,invariantContext:r,pipetteId:n,labwareId:a,wellLocationOffset:o={x:0,y:0,z:0},wellTargetName:i,primaryNozzle:s,nozzleConfiguration:l}=e,{pipetteEntities:u,labwareEntities:c,stagingAreaEntities:p,moduleEntities:d}=r,{labware:y,tipState:b}=t,h=u[n],{spec:g}=h??{},_=g?.displayCategory==="FLEX"?f.FLEX_ROBOT_TYPE:f.OT2_ROBOT_TYPE,I=f.getDeckDefFromRobotType(_);if(c[a]==null||i==null||l==null||l===f.ALL)return!0;const S=b.pipettes[n]?.tiprackURI,O=S!=null?c[S]:null,v=O!=null?O.def.parameters.tipLength:0,C=Object.values(p).map(R=>R.location),N=b.pipettes[n]?.hasTip??!1,V=N?v??0:0,$=we(y[a].stack),G=f.getPositionFromSlotId($,I)??[0,0,0],fe=_===f.FLEX_ROBOT_TYPE&&y[a].stack.some(R=>d[R]?.type===f.THERMOCYCLER_MODULE_TYPE)?I.locations.addressableAreas.find(R=>R.id===f.THERMOCYCLER_MODULE_V2)?.offsetFromCutoutFixture??[0,0,0]:[0,0,0],be=[fe[0]+G[0],fe[1]+G[1],fe[2]+G[2]],ge=OO(c[a],i,o,be,N),{channels:le}=h.spec,re=O!=null?vO({pipetteSpecs:g,tiprackUri:O.labwareDefURI,nozzles:l}):0,U=EO(h,V,ge,s??qr({nozzles:l,channels:le}),re);if(!RO({channels:le,boundingBox:U,robotType:_}))return!1;const w=(_===f.OT2_ROBOT_TYPE?f.getOt2SurroundingSlots($):f.getFlexSurroundingSlots($,C)).map(R=>{const E=f.getAddressableAreaFromSlotId(R,I),A=f.getPositionFromSlotId(R,I);return{addressableArea:E,position:A}});return!AO(U,d)&&!SO(U,w,t,r,_)},L_=e=>{const{tipState:t,primaryNozzle:r,channels:n,nozzleConfiguration:a,wellName:o,tiprackDef:i,tipsToIgnore:s=[]}=e,{ordering:l}=i;if(n===1)return{isSafe:!0,isComplete:t[o]!==Pe};if(n===8){const u=r!==f.A1_NOZZLE,c=zc(o),p=l[c],d=u?[...p].reverse():p;if(a===f.SINGLE){const y=d.indexOf(o);return{isSafe:d.slice(y+1).every(b=>t[b]===Pe||s.includes(b)),isComplete:t[o]!==Pe}}if(a===f.PARTIAL_COLUMN){const y=d.indexOf(o),b=f.PARTIAL_NOZZLE_MAP[r];return{isSafe:d.slice(y+b,d.length).every(h=>t[h]===Pe||s.includes(h)),isComplete:t[o]!==Pe}}return{isSafe:!0,isComplete:d.every(y=>t[y]!==Pe)}}if(a===f.ALL)return{isSafe:!0,isComplete:Object.keys(i.wells).every(u=>t[u]!==Pe)};if(a===f.COLUMN){const 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null},Jw=(e,t,r,n,a,s,o)=>{const{pipetteBoundingBoxOffsets:i}=e.spec,l=Zw(s,e,a,n),u=i.backLeftCorner[0],p=i.frontRightCorner[0],d=i.backLeftCorner[1],f=i.frontRightCorner[1],_=r.x-(l.x-u),m=r.x+(p-l.x),h=r.y+(d-l.y),b=r.y-(l.y-f),T=(r.z??0)+t-o;return[{x:_,y:h,z:T},{x:m,y:b,z:T},{x:m,y:h,z:T},{x:_,y:b,z:T}]},dy=(e,t)=>{const r=e[1].x<t[0].x,n=e[0].x>t[1].x,a=e[0].y<t[1].y,s=e[1].y>t[0].y;return!(r||n||a||s)},Gm=(e,t)=>{if(t===c.FLEX_ROBOT_TYPE){const r=c.getDeckDefFromRobotType(t),{addressableAreas:n}=r.locations;return n.find(s=>s.id.includes(e))?.offsetFromCutoutFixture[2]??0}return c.getModuleDef(e).dimensions.bareOverallHeight},eA=e=>{const t=c.getDeckDefFromRobotType(e);return Object.values(t.cutoutFixtures).find(n=>c.WASTE_CHUTE_FIXTURES.includes(n.id))?.height??0},tA=(e,t,r,n)=>{const{modules:a,labware:s}=e,{moduleEntities:o,labwareEntities:i,wasteChuteEntities:l}=t;let u=0;const p=r?.addressableArea?.id;if(p){const d=Ec(s,p),f=Object.keys(a).find(m=>a[m].slot===p);Object.values(l).find(m=>m.location===py(r))&&(u+=eA(n)),d.length>0?d.forEach(m=>{a[m]!=null&&(u+=Gm(o[m].model,n)),s[m]!=null&&(u+=i[m].def.dimensions.zDimension)}):f!=null&&(u+=Gm(o[f].model,n))}return u},rA=(e,t,r,n,a)=>{for(const s of t){const o=s.addressableArea?.boundingBox,i=s.position;if(i==null||o==null)continue;const 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a=z(e[r].stack),s=z(e[n].stack),o=parseInt(a),i=parseInt(s);return De.includes(a)&&De.includes(s)?r.localeCompare(n):De.includes(a)?1:De.includes(s)?-1:o-i})}function yy(e){const{pipetteId:t,tiprackId:r,invariantContext:n,robotState:a,nozzles:s,primaryNozzle:o}=e,i=n.pipetteEntities[t]?.spec?.channels,l=n.labwareEntities[r]?.def,u=a.tipState.tipracks[r];if(!i||!l||!u)return console.assert(!1,`Pipette ${t} missing channels/spec or tiprack definition`),null;const p=E=>u[E]===ga,d=c.orderWells(l.ordering,"t2b","l2r"),f=c.orderWells(l.ordering,"b2t","l2r"),_=E=>E.find(p)??null,m=E=>[...E].reverse().find(p)??null,h=E=>E.find(k=>k.every(p))??null,b=E=>[...E].reverse().find(k=>k.every(p))??null,T=i===8&&s===c.SINGLE,y=T&&o===c.H1_NOZZLE,S=T&&o===c.A1_NOZZLE,w=i===96&&s===c.SINGLE,g=w&&o===c.H12_NOZZLE,I=w&&o===c.A12_NOZZLE,L=w&&o===c.H1_NOZZLE,A=w&&o===c.A1_NOZZLE;if(i===1||y||g)return _(d);if(S)return _(f);if(s===c.PARTIAL_COLUMN){const E=_(d);if(!E)return null;const k=d.indexOf(E);return d[k]??null}if(s===c.ALL&&i===8)return h(l.ordering)?.[0]??null;if(A)return m(d);if(I)return _(f);if(L)return m(f);if(s===c.COLUMN){const E=l.ordering;return(o===c.A1_NOZZLE?b(E):h(E))?.[0]??null}if(s===c.ROW){const E=l.ordering,k=E[0].map((B,F)=>E.map(te=>te[F]));return(o===c.A1_NOZZLE?b(k):h(k))?.[0]??null}return s===c.ALL&&i===96?d.every(p)?d[0]:null:(console.assert(!1,`Unhandled _getNextTip case for pipette ${t}`),null)}function Ua(e,t,r,n,a,s){const o=r.pipetteEntities[e];if(!o)throw new Error(`cannot getNextTiprack, no pipette entity for pipette "${e}"`);const i=_y(n.labware).filter(m=>{console.assert(r.labwareEntities[m]?.labwareDefURI!=null,`cannot getNextTiprack, no labware entity for "${m}"`);const h=z(n.labware[m].stack)!=="offDeck",b=r.labwareEntities[m].labwareDefURI;return h&&b===t});let l=i;const u=o.spec.channels===96,p=[],d=[];u&&(l=l.filter(m=>{const h=n.labware[m].stack[1],b=r.labwareEntities[h],T=b?.def.parameters.loadName==="opentrons_flex_96_tiprack_adapter"&&c.getLabwareDefIsStandard(b?.def),y=s===c.ALL?T:!T;return y||p.push(m),y})),l=l.filter(m=>{const h=Object.entries(n.labware).find(([b,T])=>T.stack.includes(m)&&c.getIsLid(r.labwareEntities[b].def));return h!=null&&d.push(m),h==null});let f=null,_=null;for(const m of l){const h=yy({pipetteId:e,tiprackId:m,nozzles:s,invariantContext:r,robotState:n,primaryNozzle:a});if(h){f=m,_=h;break}}return f&&_?{nextTiprack:{tiprackId:f,well:_},tipracks:{totalTipracks:i.length,excludedBy96Channel:p.length,excludedByLid:d.length,filteredSortedTiprackIds:l}}:{nextTiprack:null,tipracks:{totalTipracks:i.length,excludedBy96Channel:p.length,excludedByLid:d.length,filteredSortedTiprackIds:l}}}function Os(e,t,r){const n=t.pipetteEntities[e],a=n.spec.liquids.default.maxVolume,s=n.tiprackLabwareDef;let o=null;for(const l of s)if(c.getLabwareDefURI(l)===r){o=l;break}const i=c.getTiprackVolume(o??s[0]);return!a||!i?(console.assert(!1,`getPipetteEffectiveMaxVol expected tiprackMaxVol and pipette maxVolume to be > 0, got',
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0}),h=u.pipetteEntities[t].spec,g=f.getByVolumeValue({liquidClass:c,pipetteSpecs:h,tiprackDefUri:p,targetVolume:r,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,T=f.getByVolumeValue({liquidClass:c,pipetteSpecs:h,tiprackDefUri:p,targetVolume:r,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,_=d!=null?[j(ye,{...d,wellLocation:{...d.wellLocation}})]:[];for(let I=0;I<n;I++)_.push(j(mo,{pipetteId:t,volume:r,flowRate:a,...g>0?{correctionVolume:g}:{}}),...tb(i),j(st,{pipetteId:t,volume:r,flowRate:o,...I<n-1?{pushOut:0}:l==null?{}:{pushOut:l},...T>0?{correctionVolume:T}:{}}),...tb(s));return[..._,...y?[b]:[]]},jO=(e,t,r)=>{const n="mix",{pipette:a,labware:o,wells:i,volume:s,times:l,changeTip:u,aspirateFlowRateUlSec:c,dispenseFlowRateUlSec:p,blowoutFlowRateUlSec:d,blowoutOffsetFromTopMm:y,dropTipLocation:b,tipRack:h,positionReference:g,xOffset:T,yOffset:m,zOffset:_,finalPushOut:I,nozzles:S,primaryNozzle:O,tipsSelected:v,tiprackSelected:C,tipTracking:N}=e,V=e.aspirateDelaySeconds??0,$=e.dispenseDelaySeconds??0,G=t.pipetteEntities[a]?.spec.channels!==1;if(r.pipettes[a]==null||t.pipetteEntities[a]==null)return{errors:[ft({pipette:a})]};if(r.labware[o]==null)return{errors:[dt({actionName:n,labware:o})]};const X=we(r.labware[o]?.stack);if(Object.keys(t.wasteChuteEntities).length>0&&X===f.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA)return{errors:[ma()]};const be=[...Object.keys(t.trashBinEntities),...Object.keys(t.wasteChuteEntities)],ge=be.length>0?be[0]:null,le=Object.values(t.labwareEntities).find(({labwareDefURI:q})=>q===b),re=le!=null&&f.getIsTiprack(le.def),U=t.wasteChuteEntities[b]!=null,x=t.trashBinEntities[b]!=null,W=r.pipettes[a]?.tipWell!=null;if(b==null||re&&ge==null&&u!=="never"&&W||!re&&!U&&!x)return{errors:[yn()]};if(G){const q=It({robotState:r,invariantContext:t,pipetteId:a,labwareId:o,wellLocationOffset:{x:T,y:m},wellTargetName:i[0],primaryNozzle:O,nozzleConfiguration:S}),P=It({robotState:r,invariantContext:t,pipetteId:a,labwareId:o,wellLocationOffset:{x:T,y:m},wellTargetName:i[0],primaryNozzle:O,nozzleConfiguration:S});if(!q&&!P)return{errors:[Mr()]}}const w=f.LOW_VOLUME_PIPETTES.includes(t.pipetteEntities[a].name),R=w?[ae(na,{pipetteId:a,volume:s})]:[],E=t.pipetteEntities[a].spec,L=N===wt&&C!=null&&v!=null&&v.length>0?qa({wellSets:v,nozzles:S,channels:E.channels,primaryNozzle:O}):null,M=dn(i,(q,P)=>{let D=[];if(u==="always"||u==="once"&&P===0){const B=L?.shift();D=[ae(Ma,{pipette:a,primaryNozzle:O,dropTipLocation:re&&ge!=null?ge:b,tipRack:h,nozzles:S,...N===wt&&B!=null&&C!=null?{tipSelectionArgs:{tipRackId:C,tipWell:B}}:{},isFromMixCommand:!0})]}const z=w||e.blowoutLocation!=null&&P>0?[ae(qt,{pipetteId:a})]:[],H=e.touchTip?[ae(Ct,{pipetteId:a,labwareId:o,wellName:q,zOffsetFromTop:e.touchTipMmFromTop})]:[],oe=Ig({pipette:e.pipette,sourceLabwareId:e.labware,sourceWell:q,destLabwareId:e.labware,destWell:q,blowoutLocation:e.blowoutLocation,flowRate:d,offsetFromTopMm:y,invariantContext:t}),de=[...Object.keys(t.wasteChuteEntities),...Object.keys(t.trashBinEntities)].some(B=>B===e.blowoutLocation)?[...H,...oe]:[...oe,...H],J=re&&(P===i.length-1||u==="always")?[ae(wn,{pipette:a,dropTipLocation:h,isReturnTip:re})]:[],ce=Pr({pipette:a,volume:s,times:l,aspirateFlowRateUlSec:c,dispenseFlowRateUlSec:p,invariantContext:t,liquidClass:null,tiprack:h,finalPushOut:I,aspirateDelaySeconds:V,dispenseDelaySeconds:$,moveToWellParams:{pipetteId:a,labwareId:o,wellName:q,wellLocation:{origin:f.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[g],offset:{x:T,y:m,z:_}}},generatePython:!0});return[...D,...R,...z,...ce,...de,...J]});return Ne(M,t,r)},$O=(e,t,r)=>{const{aspirateDelay:n,aspirateFlowRateUlSec:a,aspiratePositionReference:o,aspirateRetractDelay:i,aspirateRetractPositionReference:s,aspirateRetractSpeed:l,aspirateRetractXOffset:u,aspirateRetractYOffset:c,aspirateRetractZOffset:p,aspirateSubmergeDelay:d,aspirateSubmergePositionReference:y,aspirateSubmergeSpeed:b,aspirateSubmergeXOffset:h,aspirateSubmergeYOffset:g,aspirateSubmergeZOffset:T,aspirateXOffset:m,aspirateYOffset:_,aspirateZOffset:I,blowoutFlowRateUlSec:S,blowoutLocation:O,changeTip:v,destLabware:C,destWell:N,dispenseDelay:V,dispenseFlowRateUlSec:$,dispensePositionReference:G,dispenseRetractPositionReference:X,dispenseRetractXOffset:fe,dispenseRetractYOffset:be,dispenseRetractZOffset:ge,dispenseSubmergeDelay:le,dispenseSubmergePositionReference:re,dispenseSubmergeSpeed:U,dispenseSubmergeXOffset:x,dispenseSubmergeYOffset:W,dispenseSubmergeZOffset:w,dispenseXOffset:R,dispenseYOffset:E,dispenseZOffset:A,dropTipLocation:L,liquidClass:M,mixInDestination:q,nozzles:P,pipette:D,primaryNozzle:z,pushOut:H,sourceLabware:oe,sourceWells:K,tipRack:ue,tipTracking:de,tiprackSelected:J,tipsSelected:ce,touchTipAfterAspirate:B,touchTipAfterAspirateMmFromEdge:qe,touchTipAfterAspirateOffsetMmFromTop:Oe,touchTipAfterAspirateSpeed:Ce,touchTipAfterDispense:Ee,touchTipAfterDispenseMmFromEdge:k,touchTipAfterDispenseOffsetMmFromTop:F,touchTipAfterDispenseSpeed:Y,stepNumber:Q,volume:Z}=e,{pipetteEntities:ie,labwareEntities:te,trashBinEntities:se,wasteChuteEntities:pe}=t,me="consolidate",he=[],Ze=r.pipettes[D],Be=ie[D]?.spec.channels!==1,_e=e.aspirateAirGapVolume??0,Se=e.dispenseAirGapVolume??0;Ze==null&&he.push(ft({pipette:D})),(C==null||te[C]==null&&se[C]==null&&pe[C]==null)&&he.push(db());const rt=we(r.labware[C]?.stack),nt=we(r.labware[oe]?.stack);Object.keys(pe).length>0&&(rt===f.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA||nt===f.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA)&&he.push(ma());const Fe=[...Object.keys(t.trashBinEntities),...Object.keys(t.wasteChuteEntities)],at=Fe.length>0?Fe[0]:null,Hr=Object.values(t.labwareEntities).find(({labwareDefURI:Ue})=>Ue===L),At=Hr!=null&&f.getIsTiprack(Hr.def),Ua=t.wasteChuteEntities[L]!=null,Gr=t.trashBinEntities[L]!=null,Zt=r.tipState.pipettes[D]?.hasTip;(L==null||At&&at==null&&v!=="never"&&Zt||!At&&!Ua&&!Gr)&&he.push(yn());let ut,Ie;if(v==="never"){const Ue=r.tipState.pipettes[D]?.tiprackURI;ut=t.labwareEntities[Ue??""],Ie=ut?.labwareDefURI}else 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Ue=It({robotState:r,invariantContext:t,pipetteId:D,labwareId:oe,wellLocationOffset:{x:m,y:_},primaryNozzle:z,nozzleConfiguration:P}),Le=It({robotState:r,invariantContext:t,pipetteId:D,labwareId:C,wellLocationOffset:{x:R,y:E},primaryNozzle:z,nozzleConfiguration:P});!Ue&&!Le&&he.push(Mr())}const Ut=N!=null?te[oe]?.def.wells[N]?.depth:null,Lt=f.getMmFromBottom(A,G,Ut),zr=f.getMmFromBottom(w,re,Ut),Jt=f.getMmFromBottom(ge,X,Ut);if(Lt!=null&&zr!=null&&Lt>zr&&he.push(pT()),Lt!=null&&Jt!=null&&Lt>Jt&&he.push(fT()),he.length>0)return{errors:he};const{tipracks:pr}=Fa(D,Ie,t,r,z,P),Qt=f.getByVolumeValue({liquidClass:M,pipetteSpecs:je,tiprackDefUri:Ie,targetVolume:Z,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,xe=se[C]?.pythonName??pe[C]?.pythonName,Rt=se[L]?.pythonName??pe[L]?.pythonName,fr=O==null?null:se[O]?.pythonName??pe[O]?.pythonName,dr=te[oe].pythonName,Wr=te[C]?.pythonName,mr=K.map(Ue=>`${dr}[${ee(Ue)}]`).join(", 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0}),h=u.pipetteEntities[t].spec,b=c.getByVolumeValue({liquidClass:p,pipetteSpecs:h,tiprackDefUri:d,targetVolume:r,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,T=c.getByVolumeValue({liquidClass:p,pipetteSpecs:h,tiprackDefUri:d,targetVolume:r,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,S=f!=null?[O(V,{...f,wellLocation:{...f.wellLocation}})]:[];for(let w=0;w<n;w++)S.push(O(ms,{pipetteId:t,volume:r,flowRate:a,...b>0?{correctionVolume:b}:{}}),...Km(o),O(nt,{pipetteId:t,volume:r,flowRate:s,...w<n-1?{pushOut:0}:l==null?{}:{pushOut:l},...T>0?{correctionVolume:T}:{}}),...Km(i));return[...S,..._?[m]:[]]},yA=(e,t,r)=>{const{pipette:a,labware:s,wells:o,volume:i,times:l,changeTip:u,aspirateFlowRateUlSec:p,dispenseFlowRateUlSec:d,blowoutFlowRateUlSec:f,blowoutOffsetFromTopMm:_,dropTipLocation:m,tipRack:h,positionReference:b,xOffset:T,yOffset:y,zOffset:S,finalPushOut:w,nozzles:g,primaryNozzle:I,tipsSelected:L,tiprackSelected:A,tipTracking:E}=e,k=e.aspirateDelaySeconds??0,R=e.dispenseDelaySeconds??0,B=t.pipetteEntities[a]?.spec.channels!==1;if(r.pipettes[a]==null||t.pipetteEntities[a]==null)return{errors:[ut({pipette:a})]};if(r.labware[s]==null)return{errors:[ct({actionName:"mix",labware:s})]};const F=z(r.labware[s]?.stack);if(Object.keys(t.wasteChuteEntities).length>0&&F===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA)return{errors:[ha()]};const de=[...Object.keys(t.trashBinEntities),...Object.keys(t.wasteChuteEntities)],_e=de.length>0?de[0]:null,oe=Object.values(t.labwareEntities).find(({labwareDefURI:Y})=>Y===m),Se=oe!=null&&c.getIsTiprack(oe.def),ve=t.wasteChuteEntities[m]!=null,ze=t.trashBinEntities[m]!=null,Ue=r.pipettes[a]?.tipWell!=null;if(m==null||Se&&_e==null&&u!=="never"&&Ue||!Se&&!ve&&!ze)return{errors:[yn()]};if(B){const Y=wt({robotState:r,invariantContext:t,pipetteId:a,labwareId:s,wellLocationOffset:{x:T,y},wellTargetName:o[0],primaryNozzle:I,nozzleConfiguration:g}),P=wt({robotState:r,invariantContext:t,pipetteId:a,labwareId:s,wellLocationOffset:{x:T,y},wellTargetName:o[0],primaryNozzle:I,nozzleConfiguration:g});if(!Y&&!P)return{errors:[$r()]}}const J=c.LOW_VOLUME_PIPETTES.includes(t.pipetteEntities[a].name),Le=J?[U(sa,{pipetteId:a,volume:i})]:[],Ge=t.pipetteEntities[a].spec,re=E===Et&&A!=null&&L!=null&&L.length>0?qa({wellSets:L,nozzles:g,channels:Ge.channels,primaryNozzle:I}):null,W=hn(o,(Y,P)=>{let v=[];if(u==="always"||u==="once"&&P===0){const ye=re?.shift();v=[U(Ba,{pipette:a,primaryNozzle:I,dropTipLocation:Se&&_e!=null?_e:m,tipRack:h,nozzles:g,...E===Et&&ye!=null&&A!=null?{tipSelectionArgs:{tipRackId:A,tipWell:ye}}:{},isFromMixCommand:!0})]}const $=J||e.blowoutLocation!=null&&P>0?[U(qt,{pipetteId:a})]:[],C=e.touchTip?[U(Mt,{pipetteId:a,labwareId:s,wellName:Y,zOffsetFromTop:e.touchTipMmFromTop})]:[],ae=l_({pipette:e.pipette,sourceLabwareId:e.labware,sourceWell:Y,destLabwareId:e.labware,destWell:Y,blowoutLocation:e.blowoutLocation,flowRate:f,offsetFromTopMm:_,invariantContext:t}),H=[...Object.keys(t.wasteChuteEntities),...Object.keys(t.trashBinEntities)].some(ye=>ye===e.blowoutLocation)?[...C,...ae]:[...ae,...C],M=Se&&(P===o.length-1||u==="always")?[U(wn,{pipette:a,dropTipLocation:h,isReturnTip:Se})]:[],G=Cr({pipette:a,volume:i,times:l,aspirateFlowRateUlSec:p,dispenseFlowRateUlSec:d,invariantContext:t,liquidClass:null,tiprack:h,finalPushOut:w,aspirateDelaySeconds:k,dispenseDelaySeconds:R,moveToWellParams:{pipetteId:a,labwareId:s,wellName:Y,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[b],offset:{x:T,y,z:S}}},generatePython:!0});return[...v,...Le,...$,...G,...H,...M]});return ce(W,t,r)},bA=(e,t,r)=>{const{aspirateDelay:n,aspirateFlowRateUlSec:a,aspiratePositionReference:s,aspirateRetractDelay:o,aspirateRetractPositionReference:i,aspirateRetractSpeed:l,aspirateRetractXOffset:u,aspirateRetractYOffset:p,aspirateRetractZOffset:d,aspirateSubmergeDelay:f,aspirateSubmergePositionReference:_,aspirateSubmergeSpeed:m,aspirateSubmergeXOffset:h,aspirateSubmergeYOffset:b,aspirateSubmergeZOffset:T,aspirateXOffset:y,aspirateYOffset:S,aspirateZOffset:w,blowoutFlowRateUlSec:g,blowoutLocation:I,changeTip:L,destLabware:A,destWell:E,dispenseDelay:k,dispenseFlowRateUlSec:R,dispensePositionReference:B,dispenseRetractPositionReference:F,dispenseRetractXOffset:te,dispenseRetractYOffset:de,dispenseRetractZOffset:_e,dispenseSubmergeDelay:oe,dispenseSubmergePositionReference:Se,dispenseSubmergeSpeed:ve,dispenseSubmergeXOffset:ze,dispenseSubmergeYOffset:Ue,dispenseSubmergeZOffset:J,dispenseXOffset:Le,dispenseYOffset:Ge,dispenseZOffset:Be,dropTipLocation:re,liquidClass:W,mixInDestination:Y,nozzles:P,pipette:v,primaryNozzle:$,pushOut:C,sourceLabware:ae,sourceWells:q,tipRack:x,tipTracking:H,tiprackSelected:M,tipsSelected:G,touchTipAfterAspirate:ye,touchTipAfterAspirateMmFromEdge:$e,touchTipAfterAspirateOffsetMmFromTop:Xe,touchTipAfterAspirateSpeed:Ve,touchTipAfterDispense:pe,touchTipAfterDispenseMmFromEdge:Ze,touchTipAfterDispenseOffsetMmFromTop:ft,touchTipAfterDispenseSpeed:St,stepNumber:mt,volume:Oe}=e,{pipetteEntities:Qe,labwareEntities:Re,trashBinEntities:ke,wasteChuteEntities:Pe}=t,ie="consolidate",ne=[],Lt=r.pipettes[v],We=Qe[v]?.spec.channels!==1,K=e.aspirateAirGapVolume??0,Ie=e.dispenseAirGapVolume??0;Lt==null&&ne.push(ut({pipette:v})),(A==null||Re[A]==null&&ke[A]==null&&Pe[A]==null)&&ne.push(ih());const fr=z(r.labware[A]?.stack),Je=z(r.labware[ae]?.stack);Object.keys(Pe).length>0&&(fr===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA||Je===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA)&&ne.push(ha());const me=[...Object.keys(t.trashBinEntities),...Object.keys(t.wasteChuteEntities)],et=me.length>0?me[0]:null,Gr=Object.values(t.labwareEntities).find(({labwareDefURI:be})=>be===re),Ot=Gr!=null&&c.getIsTiprack(Gr.def),$a=t.wasteChuteEntities[re]!=null,Wr=t.trashBinEntities[re]!=null,er=r.tipState.pipettes[v]?.hasTip;(re==null||Ot&&et==null&&L!=="never"&&er||!Ot&&!$a&&!Wr)&&ne.push(yn());let ot,Q;if(L==="never"){const be=r.tipState.pipettes[v]?.tiprackURI;ot=t.labwareEntities[be??""],Q=ot?.labwareDefURI}else ot=Object.values(Re).find(({labwareDefURI:be})=>be===x),Q=x;ot==null&&(L==="never"?ne.push(Ut({actionName:ie,pipette:v})):ne.push(ct({actionName:ie,labware:Q})));const{def:Rt=null}=ot??{},{spec:Te,name:kt,pythonName:ee}=Qe[v],j=c.getAllLiquidClassDefs()[W===c.NONE_LIQUID_CLASS_NAME||W==null?c.WATER_LIQUID_CLASS_NAME:W].byPipette?.find(({pipetteModel:be})=>be===c.getFlexNameConversion(Te))?.byTipType.find(({tiprack:be})=>be===Q)??null,{aspirate:it}=j??{},{multiWellHandling:fe}=wc({pipetteSpecs:Te,tiprackDefinition:Rt,volume:Oe,path:"multiAspirate",numAspirateWells:q.length,numDispenseWells:1,aspirateAirGapByVolume:it?.retract.airGapByVolume??[],conditioningByVolume:null,disposalByVolume:null}),{numWellsToFitInTip:tt}=fe;if((!fe.isSupported||tt==null||tt===1)&&ne.push(Jy()),We&&P!==c.ALL){const be=wt({robotState:r,invariantContext:t,pipetteId:v,labwareId:ae,wellLocationOffset:{x:y,y:S},primaryNozzle:$,nozzleConfiguration:P}),le=wt({robotState:r,invariantContext:t,pipetteId:v,labwareId:A,wellLocationOffset:{x:Le,y:Ge},primaryNozzle:$,nozzleConfiguration:P});!be&&!le&&ne.push($r())}const $t=E!=null?Re[ae]?.def.wells[E]?.depth:null,vt=c.getMmFromBottom(Be,B,$t),Yr=c.getMmFromBottom(J,Se,$t),tr=c.getMmFromBottom(_e,F,$t);if(vt!=null&&Yr!=null&&vt>Yr&&ne.push(Zy()),vt!=null&&tr!=null&&vt>tr&&ne.push(Qy()),ne.length>0)return{errors:ne};const{tipracks:mr}=Ua(v,Q,t,r,$,P),rr=c.getByVolumeValue({liquidClass:W,pipetteSpecs:Te,tiprackDefUri:Q,targetVolume:Oe,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Ee=ke[A]?.pythonName??Pe[A]?.pythonName,Pt=ke[re]?.pythonName??Pe[re]?.pythonName,hr=I==null?null:ke[I]?.pythonName??Pe[I]?.pythonName,_r=Re[ae].pythonName,Kr=Re[A]?.pythonName,yr=q.map(be=>`${_r}[${N(be)}]`).join(", 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-${ve(Xr.join(`,
+)`,br=H===Et&&M!=null&&G!=null&&G.length>0?qa({wellSets:G,nozzles:P,channels:Te.channels,primaryNozzle:$}):null,nr=M!=null?Re[M]?.pythonName:null,Un=br?.map(be=>`${nr}[${N(be)}]`).join(", "),Qr=[`volume=${Oe}`,`source=[${yr}]`,`dest=${Xr!=null?`[${Xr}]`:Ee}`,`new_tip=${N(Ls(L))}`,...Ot?["return_tip=True",...hr!=null?[`trash_location=${hr}`]:[]]:[`trash_location=${Pt}`,"keep_last_tip=True"],...Te.channels>1?["group_wells=False"]:[],...mr.filteredSortedTiprackIds.length>0?[Ss({labwareEntities:Re,tiprackIds:mr.filteredSortedTiprackIds})]:[],`liquid_class=${Fn}`,...br!=null&&nr!=null?[`tips=[${Un}]`]:[]],Bn=()=>({commands:[],python:`${ee}.consolidate_with_liquid_class(
+${Z(Qr.join(`,
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-)`}),yr=q_(K,ot),Ba=f.LOW_VOLUME_PIPETTES.includes(vt)?[j(na,{pipetteId:D,volume:Z})]:[],tr={origin:f.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[re],offset:{x,y:W,z:w}},Un={origin:f.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[X],offset:{x:fe,y:be,z:ge}},Bt=n!=null?[j(Me,{seconds:n.seconds})]:[],br=f.getByVolumeValue({liquidClass:M,pipetteSpecs:je,tiprackDefUri:Ie,targetVolume:Se,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,gr=V!=null?[j(Me,{seconds:V.seconds})]:[],Bn=f.getByVolumeValue({liquidClass:M,pipetteSpecs:je,tiprackDefUri:Ie,targetVolume:_e,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??a,Zr=f.getByVolumeValue({liquidClass:M,pipetteSpecs:je,tiprackDefUri:Ie,targetVolume:_e,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??$,jn=f.getByVolumeValue({liquidClass:M,pipetteSpecs:je,tiprackDefUri:Ie,targetVolume:Se,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??a,Jr=f.getByVolumeValue({liquidClass:M,pipetteSpecs:je,tiprackDefUri:Ie,targetVolume:Se,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??$,rr=Nr({retractZOffset:ge,retractPositionReference:X,labwareId:C,labwareEntities:te,well:N}),_r=!rr&&N!=null?[j(ye,{pipetteId:D,labwareId:C,wellName:N,wellLocation:f.SAFE_MOVE_TO_WELL_LOCATION})]:[],ja=[...dn(yr,(Ue,Le)=>{const ht=(He,xt=!0)=>Se>0&&!(v==="never"&&Ge&&He)?[...xt?_r:[],j(qt,{pipetteId:D}),j(Yt,{pipetteId:D,volume:Se,flowRate:jn,...br>0?{correctionVolume:br}:{}}),...Bt]:[],yt=He=>N!=null&&Ee?[j(Ct,{pipetteId:D,labwareId:C,wellName:N,...k!=null?{mmFromEdge:k}:{},zOffsetFromTop:F,...Y!=null?{speed:Y}:{}}),...ht(He).length>0&&rr?[j(ye,{pipetteId:D,labwareId:C,wellName:N,wellLocation:Un})]:[]]:[],Ve=Le===0,Ge=Le===yr.length-1,xn=Ue.length,Re=Z*xn,it=v==="always"||v==="once"&&Ve;let nr=[];if(it){const He=hr?.shift();nr=[ae(Ma,{pipette:D,primaryNozzle:z,nozzles:P,dropTipLocation:At&&at!=null?at:L,tipRack:Ie,...de===wt&&He!=null&&J!=null?{tipSelectionArgs:{tipRackId:J,tipWell:He}}:{}})]}const Tr=dn(Ue,(He,xt)=>{const Sr=xt===0;let gt=0,Vt=$;Sr&&!it&&!Ve?(gt=Se,Vt=Jr):Sr||(gt=_e,Vt=Zr);const zn={origin:f.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[y],offset:{x:h,y:g,z:T}},tn={origin:f.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[s],offset:{x:u,y:c,z:p}},rn=Nr({retractZOffset:p,retractPositionReference:s,labwareId:oe,labwareEntities:te,well:He}),Wn=!rn&&He!=null?[j(ye,{pipetteId:D,labwareId:oe,wellName:He,wellLocation:f.SAFE_MOVE_TO_WELL_LOCATION})]:[],nn=f.getByVolumeValue({liquidClass:M,pipetteSpecs:je,tiprackDefUri:Ie,targetVolume:gt,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Ar=Sr?[...f.LOW_VOLUME_PIPETTES.includes(t.pipetteEntities[D].name)?[j(na,{pipetteId:D,volume:Re})]:[],j(qt,{pipetteId:D})]:[],Yn=gt>0?[j(st,{pipetteId:D,volume:gt,flowRate:Vt,...nn>0?{correctionVolume:nn}:{},isAirGap:!0,pushOut:0}),...gr]:[],Or=[...[j(ye,{pipetteId:D,labwareId:oe,wellName:He,wellLocation:f.SAFE_MOVE_TO_WELL_LOCATION})],...Yn,...Ar],an=[j(ye,{pipetteId:D,labwareId:oe,wellName:He,wellLocation:zn}),j(ye,{pipetteId:D,labwareId:oe,...b!=null?{speed:b}:{},wellName:He,wellLocation:{origin:f.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[o],offset:{x:m,y:_,z:I}}}),...d!=null&&d.seconds>0?[j(Me,{seconds:d.seconds})]:[]],ir=B?[j(Ct,{pipetteId:D,labwareId:oe,wellName:He,...qe!=null?{mmFromEdge:qe}:{},zOffsetFromTop:Oe,...Ce!=null?{speed:Ce}:{}}),..._e>0&&rn?[j(ye,{pipetteId:D,labwareId:oe,wellName:He,wellLocation:tn})]:[]]:[],vr=f.getByVolumeValue({liquidClass:M,pipetteSpecs:je,tiprackDefUri:Ie,targetVolume:_e,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Ht=_e>0?[...Wn,j(Yt,{pipetteId:D,volume:_e,flowRate:Bn,...vr>0?{correctionVolume:vr}:{}}),...Bt]:[],sr=[j(mo,{pipetteId:D,volume:Z,flowRate:a,correctionVolume:Qt}),...Bt],Kn=[j(ye,{pipetteId:D,labwareId:oe,...l!=null?{speed:l}:{},wellName:He,wellLocation:tn}),...i!=null&&i?.seconds>0?[j(Me,{seconds:i.seconds})]:[]];return[...Or,...an,...sr,...Kn,...ir,...Ht]}),Er=N!=null?[j(ye,{pipetteId:D,labwareId:C,wellName:N,wellLocation:f.SAFE_MOVE_TO_WELL_LOCATION}),j(ye,{pipetteId:D,labwareId:C,wellName:N,wellLocation:tr,...U!=null?{speed:U}:{}})]:[j(Xe,{pipetteId:D,fixtureId:C,offset:{x:0,y:0,z:0}})],Vn=f.getByVolumeValue({liquidClass:M,pipetteSpecs:je,tiprackDefUri:Ie,targetVolume:_e,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Hn=_e>0?[j(st,{pipetteId:D,volume:_e,flowRate:Zr,pushOut:0,correctionVolume:Vn,isAirGap:!0}),...gr]:[],bt=N!=null?[j(ye,{pipetteId:D,labwareId:C,wellName:N,wellLocation:tr}),j(ye,{pipetteId:D,labwareId:C,...U!=null?{speed:U}:{},wellName:N,wellLocation:{origin:f.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[G],offset:{x:R,y:E,z:A}}}),...le!=null&&le.seconds>0?[j(Me,{seconds:le.seconds})]:[]]:[],Gn=f.getByVolumeValue({liquidClass:M,pipetteSpecs:je,tiprackDefUri:Ie,targetVolume:Re,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,ar=q!=null?0:H,wr=[j(st,{pipetteId:D,volume:Re,flowRate:$,...ar!=null?{pushOut:ar}:{},correctionVolume:Gn}),...gr],jt=(q!=null?f.getByVolumeValue({liquidClass:M,pipetteSpecs:je,tiprackDefUri:Ie,targetVolume:q.volume,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null}):a)??a,$t=(q!=null?f.getByVolumeValue({liquidClass:M,pipetteSpecs:je,tiprackDefUri:Ie,targetVolume:q.volume,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null}):$)??$,Qr=q!=null?Pr({pipette:D,volume:q.volume,times:q.times,aspirateFlowRateUlSec:jt,dispenseFlowRateUlSec:$t,aspirateDelaySeconds:n?.seconds,dispenseDelaySeconds:V?.seconds,finalPushOut:H,invariantContext:t,liquidClass:M,tiprack:Ie,generatePython:!1}):[],Ir=[j(Ea,{pipetteId:D,flowRate:S})];let or=[];O==null||O===$r?or=[...yt(!0),...ht(!0)]:O===In&&N!=null?or=[j(ye,{pipetteId:D,labwareId:C,wellName:N,wellLocation:{origin:f.WELL_ORIGIN_TOP}}),...Ir,...yt(!0),...ht(!0)]:or=[...yt(!1),...ht(!1),j(Xe,{pipetteId:D,fixtureId:Object.values(se).length>0?Object.values(se)[0].id:Object.values(pe)[0].id,offset:{x:0,y:0,z:0}}),...Ir,...ht(!0,!1)];const en=At&&(Le===yr.length-1||v==="always")?[j(wn,{pipette:D,dropTipLocation:Ie,isReturnTip:At})]:[];return[...nr,...Ba,...Tr,...Er,...Hn,...bt,...wr,...Qr,...or,...en]}),Mn];return Ne(ja,t,r)},xO=(e,t,r)=>{const{pipetteId:n,trashId:a,flowRate:o,volume:i}=e,{pipetteEntities:s,trashBinEntities:l}=t,u=l[a],c=s[n].pythonName,p=u.pythonName,d=[`volume=${i}`,`location=${p}`,`rate=${o} / ${c}.flow_rate.dispense`],y=()=>({commands:[],python:`${c}.dispense(
-${ve(d.join(`,
+)`}),Tr=gy(q,tt),Va=c.LOW_VOLUME_PIPETTES.includes(kt)?[O(sa,{pipetteId:v,volume:Oe})]:[],ar={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[Se],offset:{x:ze,y:Ue,z:J}},$n={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[F],offset:{x:te,y:de,z:_e}},Vt=n!=null?[O(he,{seconds:n.seconds})]:[],gr=c.getByVolumeValue({liquidClass:W,pipetteSpecs:Te,tiprackDefUri:Q,targetVolume:Ie,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Ir=k!=null?[O(he,{seconds:k.seconds})]:[],Vn=c.getByVolumeValue({liquidClass:W,pipetteSpecs:Te,tiprackDefUri:Q,targetVolume:K,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??a,Jr=c.getByVolumeValue({liquidClass:W,pipetteSpecs:Te,tiprackDefUri:Q,targetVolume:K,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??R,xn=c.getByVolumeValue({liquidClass:W,pipetteSpecs:Te,tiprackDefUri:Q,targetVolume:Ie,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??a,en=c.getByVolumeValue({liquidClass:W,pipetteSpecs:Te,tiprackDefUri:Q,targetVolume:Ie,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??R,sr=Fr({retractZOffset:_e,retractPositionReference:F,labwareId:A,labwareEntities:Re,well:E}),Er=!sr&&E!=null?[O(V,{pipetteId:v,labwareId:A,wellName:E,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})]:[],xa=[...hn(Tr,(be,le)=>{const ht=(Ae,jt=!0)=>Ie>0&&!(L==="never"&&Ne&&Ae)?[...jt?Er:[],O(qt,{pipetteId:v}),O(Zt,{pipetteId:v,volume:Ie,flowRate:xn,...gr>0?{correctionVolume:gr}:{}}),...Vt]:[],_t=Ae=>E!=null&&pe?[O(Mt,{pipetteId:v,labwareId:A,wellName:E,...Ze!=null?{mmFromEdge:Ze}:{},zOffsetFromTop:ft,...St!=null?{speed:St}:{}}),...ht(Ae).length>0&&sr?[O(V,{pipetteId:v,labwareId:A,wellName:E,wellLocation:$n})]:[]]:[],we=le===0,Ne=le===Tr.length-1,jn=be.length,ue=Oe*jn,rt=L==="always"||L==="once"&&we;let or=[];if(rt){const Ae=br?.shift();or=[U(Ba,{pipette:v,primaryNozzle:$,nozzles:P,dropTipLocation:Ot&&et!=null?et:re,tipRack:Q,...H===Et&&Ae!=null&&M!=null?{tipSelectionArgs:{tipRackId:M,tipWell:Ae}}:{}})]}const wr=hn(be,(Ae,jt)=>{const Or=jt===0;let bt=0,zt=R;Or&&!rt&&!we?(bt=Ie,zt=en):Or||(bt=K,zt=Jr);const Yn={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[_],offset:{x:h,y:b,z:T}},nn={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[i],offset:{x:u,y:p,z:d}},an=Fr({retractZOffset:d,retractPositionReference:i,labwareId:ae,labwareEntities:Re,well:Ae}),Kn=!an&&Ae!=null?[O(V,{pipetteId:v,labwareId:ae,wellName:Ae,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})]:[],sn=c.getByVolumeValue({liquidClass:W,pipetteSpecs:Te,tiprackDefUri:Q,targetVolume:bt,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Rr=Or?[...c.LOW_VOLUME_PIPETTES.includes(t.pipetteEntities[v].name)?[O(sa,{pipetteId:v,volume:ue})]:[],O(qt,{pipetteId:v})]:[],Xn=bt>0?[O(nt,{pipetteId:v,volume:bt,flowRate:zt,...sn>0?{correctionVolume:sn}:{},isAirGap:!0,pushOut:0}),...Ir]:[],kr=[...[O(V,{pipetteId:v,labwareId:ae,wellName:Ae,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})],...Xn,...Rr],on=[O(V,{pipetteId:v,labwareId:ae,wellName:Ae,wellLocation:Yn}),O(V,{pipetteId:v,labwareId:ae,...m!=null?{speed:m}:{},wellName:Ae,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[s],offset:{x:y,y:S,z:w}}}),...f!=null&&f.seconds>0?[O(he,{seconds:f.seconds})]:[]],ur=ye?[O(Mt,{pipetteId:v,labwareId:ae,wellName:Ae,...$e!=null?{mmFromEdge:$e}:{},zOffsetFromTop:Xe,...Ve!=null?{speed:Ve}:{}}),...K>0&&an?[O(V,{pipetteId:v,labwareId:ae,wellName:Ae,wellLocation:nn})]:[]]:[],vr=c.getByVolumeValue({liquidClass:W,pipetteSpecs:Te,tiprackDefUri:Q,targetVolume:K,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Gt=K>0?[...Kn,O(Zt,{pipetteId:v,volume:K,flowRate:Vn,...vr>0?{correctionVolume:vr}:{}}),...Vt]:[],cr=[O(ms,{pipetteId:v,volume:Oe,flowRate:a,correctionVolume:rr}),...Vt],Zn=[O(V,{pipetteId:v,labwareId:ae,...l!=null?{speed:l}:{},wellName:Ae,wellLocation:nn}),...o!=null&&o?.seconds>0?[O(he,{seconds:o.seconds})]:[]];return[...kr,...on,...cr,...Zn,...ur,...Gt]}),Ar=E!=null?[O(V,{pipetteId:v,labwareId:A,wellName:E,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION}),O(V,{pipetteId:v,labwareId:A,wellName:E,wellLocation:ar,...ve!=null?{speed:ve}:{}})]:[O(qe,{pipetteId:v,fixtureId:A,offset:{x:0,y:0,z:0}})],zn=c.getByVolumeValue({liquidClass:W,pipetteSpecs:Te,tiprackDefUri:Q,targetVolume:K,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Gn=K>0?[O(nt,{pipetteId:v,volume:K,flowRate:Jr,pushOut:0,correctionVolume:zn,isAirGap:!0}),...Ir]:[],yt=E!=null?[O(V,{pipetteId:v,labwareId:A,wellName:E,wellLocation:ar}),O(V,{pipetteId:v,labwareId:A,...ve!=null?{speed:ve}:{},wellName:E,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[B],offset:{x:Le,y:Ge,z:Be}}}),...oe!=null&&oe.seconds>0?[O(he,{seconds:oe.seconds})]:[]]:[],Wn=c.getByVolumeValue({liquidClass:W,pipetteSpecs:Te,tiprackDefUri:Q,targetVolume:ue,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,ir=Y!=null?0:C,Sr=[O(nt,{pipetteId:v,volume:ue,flowRate:R,...ir!=null?{pushOut:ir}:{},correctionVolume:Wn}),...Ir],xt=(Y!=null?c.getByVolumeValue({liquidClass:W,pipetteSpecs:Te,tiprackDefUri:Q,targetVolume:Y.volume,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null}):a)??a,Ht=(Y!=null?c.getByVolumeValue({liquidClass:W,pipetteSpecs:Te,tiprackDefUri:Q,targetVolume:Y.volume,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null}):R)??R,tn=Y!=null?Cr({pipette:v,volume:Y.volume,times:Y.times,aspirateFlowRateUlSec:xt,dispenseFlowRateUlSec:Ht,aspirateDelaySeconds:n?.seconds,dispenseDelaySeconds:k?.seconds,finalPushOut:C,invariantContext:t,liquidClass:W,tiprack:Q,generatePython:!1}):[],Lr=[O(Sa,{pipetteId:v,flowRate:g})];let lr=[];I==null||I===Hr?lr=[..._t(!0),...ht(!0)]:I===Sn&&E!=null?lr=[O(V,{pipetteId:v,labwareId:A,wellName:E,wellLocation:{origin:c.WELL_ORIGIN_TOP}}),...Lr,..._t(!0),...ht(!0)]:lr=[..._t(!1),...ht(!1),O(qe,{pipetteId:v,fixtureId:Object.values(ke).length>0?Object.values(ke)[0].id:Object.values(Pe)[0].id,offset:{x:0,y:0,z:0}}),...Lr,...ht(!0,!1)];const rn=Ot&&(le===Tr.length-1||L==="always")?[O(wn,{pipette:v,dropTipLocation:Q,isReturnTip:Ot})]:[];return[...or,...Va,...wr,...Ar,...Gn,...yt,...Sr,...tn,...lr,...rn]}),Bn];return ce(xa,t,r)},TA=(e,t,r)=>{const{pipetteId:n,trashId:a,flowRate:s,volume:o}=e,{pipetteEntities:i,trashBinEntities:l}=t,u=l[a],p=i[n].pythonName,d=u.pythonName,f=[`volume=${o}`,`location=${d}`,`rate=${s} / ${p}.flow_rate.dispense`],_=()=>({commands:[],python:`${p}.dispense(
+${Z(f.join(`,
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-)`}),b=[j(Xe,{pipetteId:n,fixtureId:a,offset:Et}),j(st,{pipetteId:n,volume:i,flowRate:o}),y];return Ne(b,t,r)},VO=(e,t,r)=>{const{pipetteId:n,flowRate:a,volume:o,wasteChuteId:i}=e,{pipetteEntities:s,wasteChuteEntities:l}=t,u=l[i].pythonName,c=s[n].pythonName,p=[`volume=${o}`,`location=${u}`,`rate=${a} / ${c}.flow_rate.dispense`],d=()=>({commands:[],python:`${c}.dispense(
-${ve(p.join(`,
+)`}),m=[O(qe,{pipetteId:n,fixtureId:a,offset:It}),O(nt,{pipetteId:n,volume:o,flowRate:s}),_];return ce(m,t,r)},gA=(e,t,r)=>{const{pipetteId:n,flowRate:a,volume:s,wasteChuteId:o}=e,{pipetteEntities:i,wasteChuteEntities:l}=t,u=l[o].pythonName,p=i[n].pythonName,d=[`volume=${s}`,`location=${u}`,`rate=${a} / ${p}.flow_rate.dispense`],f=()=>({commands:[],python:`${p}.dispense(
+${Z(d.join(`,
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-)`}),y=[j(Xe,{pipetteId:n,fixtureId:i,offset:Et}),j(st,{pipetteId:n,flowRate:a,volume:o}),d];return Ne(y,t,r)},HO=(e,t,r)=>{const{aspirateDelay:n,aspirateFlowRateUlSec:a,aspiratePositionReference:o,aspirateRetractDelay:i,aspirateRetractPositionReference:s,aspirateRetractSpeed:l,aspirateRetractXOffset:u,aspirateRetractYOffset:c,aspirateRetractZOffset:p,aspirateSubmergeDelay:d,aspirateSubmergePositionReference:y,aspirateSubmergeSpeed:b,aspirateSubmergeXOffset:h,aspirateSubmergeYOffset:g,aspirateSubmergeZOffset:T,aspirateXOffset:m,aspirateYOffset:_,aspirateZOffset:I,blowoutFlowRateUlSec:S,blowoutLocation:O,changeTip:v,destLabware:C,destWells:N,dispenseDelay:V,dispenseFlowRateUlSec:$,dispensePositionReference:G,dispenseRetractDelay:X,dispenseRetractPositionReference:fe,dispenseRetractSpeed:be,dispenseRetractXOffset:ge,dispenseRetractYOffset:le,dispenseRetractZOffset:re,dispenseSubmergeDelay:U,dispenseSubmergePositionReference:x,dispenseSubmergeSpeed:W,dispenseSubmergeXOffset:w,dispenseSubmergeYOffset:R,dispenseSubmergeZOffset:E,dispenseXOffset:A,dispenseYOffset:L,dispenseZOffset:M,dropTipLocation:q,liquidClass:P,mixBeforeAspirate:D,nozzles:z,pipette:H,preWetTip:oe,primaryNozzle:K,pushOut:ue,sourceLabware:de,sourceWell:J,tipRack:ce,tipTracking:B,tiprackSelected:qe,tipsSelected:Oe,touchTipAfterAspirate:Ce,touchTipAfterAspirateMmFromEdge:Ee,touchTipAfterAspirateOffsetMmFromTop:k,touchTipAfterAspirateSpeed:F,touchTipAfterDispense:Y,touchTipAfterDispenseMmFromEdge:Q,touchTipAfterDispenseOffsetMmFromTop:Z,touchTipAfterDispenseSpeed:ie,stepNumber:te,volume:se}=e,{pipetteEntities:pe,labwareEntities:me,trashBinEntities:he,wasteChuteEntities:Ze}=t,Be="distribute",_e=[],Se=pe[H]?.spec.channels!==1,rt=me[de]?.def.parameters.quirks?.includes("touchTipDisabled"),nt=e.aspirateAirGapVolume??0,Ke=e.dispenseAirGapVolume??0,Fe=e.disposalVolume!=null&&e.disposalVolume>0?e.disposalVolume:0,at=e.conditioningVolume!=null&&e.conditioningVolume>0?e.conditioningVolume:0;(r.pipettes[H]==null||pe[H]==null)&&_e.push(ft({pipette:H})),(!de||!r.labware[de])&&_e.push(dt({actionName:Be,labware:de}));const Hr=we(r.labware[C]?.stack),At=we(r.labware[de]?.stack);Object.keys(Ze).length>0&&(Hr===f.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA||At===f.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA)&&_e.push(ma());const Gr=[...Object.keys(t.trashBinEntities),...Object.keys(t.wasteChuteEntities)],Zt=Gr.length>0?Gr[0]:null,ut=Object.values(t.labwareEntities).find(({labwareDefURI:Re})=>Re===q),Ie=ut!=null&&f.getIsTiprack(ut.def),Ot=t.wasteChuteEntities[q]!=null,je=t.trashBinEntities[q]!=null,vt=r.tipState.pipettes[H]?.hasTip;(q==null||Ie&&Zt==null&&v!=="never"&&vt||!Ie&&!Ot&&!je)&&_e.push(yn());let Ae,Te;if(v==="never"){const Re=r.tipState.pipettes[H]?.tiprackURI;Ae=t.labwareEntities[Re??""],Te=Ae?.labwareDefURI}else Ae=Object.values(me).find(({labwareDefURI:Re})=>Re===ce),Te=ce;Ae==null&&(v==="never"?_e.push(Ft({actionName:Be,pipette:H})):_e.push(dt({actionName:Be,labware:Te})));const{def:ct=null}=Ae??{},{spec:De,name:ot,pythonName:Ut}=pe[H],Lt=f.getAllLiquidClassDefs()[P===f.NONE_LIQUID_CLASS_NAME||P==null?f.WATER_LIQUID_CLASS_NAME:P].byPipette?.find(({pipetteModel:Re})=>Re===f.getFlexNameConversion(De))?.byTipType.find(({tiprack:Re})=>Re===Te)??null,{aspirate:zr,multiDispense:Jt}=Lt??{},{multiWellHandling:pr}=Rp({pipetteSpecs:De,tiprackDefinition:ct,volume:se,path:"multiDispense",numAspirateWells:1,numDispenseWells:N.length,conditioningByVolume:Jt?.conditioningByVolume??[],disposalByVolume:Jt?.disposalByVolume??[],aspirateAirGapByVolume:zr?.retract.airGapByVolume??[]}),{numWellsToFitInTip:Qt}=pr;if((!pr.isSupported||Qt==null||Qt===1)&&_e.push(mT()),Se&&z!==f.ALL){const Re=It({robotState:r,invariantContext:t,pipetteId:H,labwareId:de,wellLocationOffset:{x:m,y:_},wellTargetName:J,primaryNozzle:K,nozzleConfiguration:z}),it=It({robotState:r,invariantContext:t,pipetteId:H,labwareId:C,wellLocationOffset:{x:A,y:L},wellTargetName:N[0],primaryNozzle:K,nozzleConfiguration:z});!Re&&!it&&_e.push(Mr())}const xe=t.labwareEntities[de]?.def.wells[J]?.depth??null,Rt=f.getMmFromBottom(I,o,xe),fr=f.getMmFromBottom(T,y,xe),dr=f.getMmFromBottom(p,s,xe);Rt!=null&&fr!=null&&Rt>fr&&_e.push(mb()),Rt!=null&&dr!=null&&Rt>dr&&_e.push(hb());const Wr=[j(ye,{pipetteId:H,labwareId:de,wellName:J,wellLocation:f.SAFE_MOVE_TO_WELL_LOCATION})],mr=ko(H,t,Te)-nt;if(Math.floor((mr-Fe)/se)===0&&_e.push(Xa({actionName:Be,volume:se,maxVolume:mr,disposalVolume:Fe})),_e.length>0)return{errors:_e};const{tipracks:Kr}=Fa(H,Te,t,r,K,z),Dn=f.getByVolumeValue({liquidClass:P,pipetteSpecs:De,tiprackDefUri:Te,targetVolume:se,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,qn=he[C]?.pythonName??Ze[C]?.pythonName,hr=he[q]?.pythonName??Ze[q]?.pythonName,er=O==null?null:he[O]?.pythonName??Ze[O]?.pythonName,Fn=me[de].pythonName,Xr=me[C]?.pythonName,Mn=`${Fn}[${ee(e.sourceWell)}]`,yr=e.destWells.map(Re=>`${Xr}[${ee(Re)}]`).join(", "),Ba=[`name=${ee(`${e.commandCreatorFnName}_step_${te}`)}`,...P!=null?[`base_liquid_class=${Da(P,!0)}`]:[],`properties=${Lo({args:e,pipetteName:f.isFlexPipette(ot)?f.getFlexNameConversion(De):ot,tiprackUri:Te,liquidClassValuesForTip:Lt})}`],tr=`${$e}.define_liquid_class(
-${ve(Ba.join(`,
+)`}),_=[O(qe,{pipetteId:n,fixtureId:o,offset:It}),O(nt,{pipetteId:n,flowRate:a,volume:s}),f];return ce(_,t,r)},IA=(e,t,r)=>{const{aspirateDelay:n,aspirateFlowRateUlSec:a,aspiratePositionReference:s,aspirateRetractDelay:o,aspirateRetractPositionReference:i,aspirateRetractSpeed:l,aspirateRetractXOffset:u,aspirateRetractYOffset:p,aspirateRetractZOffset:d,aspirateSubmergeDelay:f,aspirateSubmergePositionReference:_,aspirateSubmergeSpeed:m,aspirateSubmergeXOffset:h,aspirateSubmergeYOffset:b,aspirateSubmergeZOffset:T,aspirateXOffset:y,aspirateYOffset:S,aspirateZOffset:w,blowoutFlowRateUlSec:g,blowoutLocation:I,changeTip:L,destLabware:A,destWells:E,dispenseDelay:k,dispenseFlowRateUlSec:R,dispensePositionReference:B,dispenseRetractDelay:F,dispenseRetractPositionReference:te,dispenseRetractSpeed:de,dispenseRetractXOffset:_e,dispenseRetractYOffset:oe,dispenseRetractZOffset:Se,dispenseSubmergeDelay:ve,dispenseSubmergePositionReference:ze,dispenseSubmergeSpeed:Ue,dispenseSubmergeXOffset:J,dispenseSubmergeYOffset:Le,dispenseSubmergeZOffset:Ge,dispenseXOffset:Be,dispenseYOffset:re,dispenseZOffset:W,dropTipLocation:Y,liquidClass:P,mixBeforeAspirate:v,nozzles:$,pipette:C,preWetTip:ae,primaryNozzle:q,pushOut:x,sourceLabware:H,sourceWell:M,tipRack:G,tipTracking:ye,tiprackSelected:$e,tipsSelected:Xe,touchTipAfterAspirate:Ve,touchTipAfterAspirateMmFromEdge:pe,touchTipAfterAspirateOffsetMmFromTop:Ze,touchTipAfterAspirateSpeed:ft,touchTipAfterDispense:St,touchTipAfterDispenseMmFromEdge:mt,touchTipAfterDispenseOffsetMmFromTop:Oe,touchTipAfterDispenseSpeed:Qe,stepNumber:Re,volume:ke}=e,{pipetteEntities:Pe,labwareEntities:ie,trashBinEntities:ne,wasteChuteEntities:Lt}=t,We="distribute",K=[],Ie=Pe[C]?.spec.channels!==1,fr=ie[H]?.def.parameters.quirks?.includes("touchTipDisabled"),Je=e.aspirateAirGapVolume??0,Me=e.dispenseAirGapVolume??0,me=e.disposalVolume!=null&&e.disposalVolume>0?e.disposalVolume:0,et=e.conditioningVolume!=null&&e.conditioningVolume>0?e.conditioningVolume:0;(r.pipettes[C]==null||Pe[C]==null)&&K.push(ut({pipette:C})),(!H||!r.labware[H])&&K.push(ct({actionName:We,labware:H}));const Gr=z(r.labware[A]?.stack),Ot=z(r.labware[H]?.stack);Object.keys(Lt).length>0&&(Gr===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA||Ot===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA)&&K.push(ha());const Wr=[...Object.keys(t.trashBinEntities),...Object.keys(t.wasteChuteEntities)],er=Wr.length>0?Wr[0]:null,ot=Object.values(t.labwareEntities).find(({labwareDefURI:ue})=>ue===Y),Q=ot!=null&&c.getIsTiprack(ot.def),Rt=t.wasteChuteEntities[Y]!=null,Te=t.trashBinEntities[Y]!=null,kt=r.tipState.pipettes[C]?.hasTip;(Y==null||Q&&er==null&&L!=="never"&&kt||!Q&&!Rt&&!Te)&&K.push(yn());let ee,j;if(L==="never"){const ue=r.tipState.pipettes[C]?.tiprackURI;ee=t.labwareEntities[ue??""],j=ee?.labwareDefURI}else ee=Object.values(ie).find(({labwareDefURI:ue})=>ue===G),j=G;ee==null&&(L==="never"?K.push(Ut({actionName:We,pipette:C})):K.push(ct({actionName:We,labware:j})));const{def:it=null}=ee??{},{spec:fe,name:tt,pythonName:$t}=Pe[C],vt=c.getAllLiquidClassDefs()[P===c.NONE_LIQUID_CLASS_NAME||P==null?c.WATER_LIQUID_CLASS_NAME:P].byPipette?.find(({pipetteModel:ue})=>ue===c.getFlexNameConversion(fe))?.byTipType.find(({tiprack:ue})=>ue===j)??null,{aspirate:Yr,multiDispense:tr}=vt??{},{multiWellHandling:mr}=wc({pipetteSpecs:fe,tiprackDefinition:it,volume:ke,path:"multiDispense",numAspirateWells:1,numDispenseWells:E.length,conditioningByVolume:tr?.conditioningByVolume??[],disposalByVolume:tr?.disposalByVolume??[],aspirateAirGapByVolume:Yr?.retract.airGapByVolume??[]}),{numWellsToFitInTip:rr}=mr;if((!mr.isSupported||rr==null||rr===1)&&K.push(eb()),Ie&&$!==c.ALL){const ue=wt({robotState:r,invariantContext:t,pipetteId:C,labwareId:H,wellLocationOffset:{x:y,y:S},wellTargetName:M,primaryNozzle:q,nozzleConfiguration:$}),rt=wt({robotState:r,invariantContext:t,pipetteId:C,labwareId:A,wellLocationOffset:{x:Be,y:re},wellTargetName:E[0],primaryNozzle:q,nozzleConfiguration:$});!ue&&!rt&&K.push($r())}const Ee=t.labwareEntities[H]?.def.wells[M]?.depth??null,Pt=c.getMmFromBottom(w,s,Ee),hr=c.getMmFromBottom(T,_,Ee),_r=c.getMmFromBottom(d,i,Ee);Pt!=null&&hr!=null&&Pt>hr&&K.push(lh()),Pt!=null&&_r!=null&&Pt>_r&&K.push(uh());const Kr=[O(V,{pipetteId:C,labwareId:H,wellName:M,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})],yr=Os(C,t,j)-Je;if(Math.floor((yr-me)/ke)===0&&K.push(Xa({actionName:We,volume:ke,maxVolume:yr,disposalVolume:me})),K.length>0)return{errors:K};const{tipracks:Zr}=Ua(C,j,t,r,q,$),Fn=c.getByVolumeValue({liquidClass:P,pipetteSpecs:fe,tiprackDefUri:j,targetVolume:ke,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,qn=ne[A]?.pythonName??Lt[A]?.pythonName,br=ne[Y]?.pythonName??Lt[Y]?.pythonName,nr=I==null?null:ne[I]?.pythonName??Lt[I]?.pythonName,Un=ie[H].pythonName,Qr=ie[A]?.pythonName,Bn=`${Un}[${N(e.sourceWell)}]`,Tr=e.destWells.map(ue=>`${Qr}[${N(ue)}]`).join(", "),Va=[`name=${N(`${e.commandCreatorFnName}_step_${Re}`)}`,...P!=null?[`base_liquid_class=${Fa(P,!0)}`]:[],`properties=${As({args:e,pipetteName:c.isFlexPipette(tt)?c.getFlexNameConversion(fe):tt,tiprackUri:j,liquidClassValuesForTip:vt})}`],ar=`${ge}.define_liquid_class(
+${Z(Va.join(`,
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-)`,Bt=B===wt&&qe!=null&&Oe!=null&&Oe.length>0?qa({wellSets:Oe,nozzles:z,channels:De.channels,primaryNozzle:K}):null,br=qe!=null?me[qe]?.pythonName:null,gr=Bt?.map(Re=>`${br}[${ee(Re)}]`).join(", "),Bn=[`volume=${se}`,`source=[${Mn}]`,`dest=[${yr??qn}]`,`new_tip=${ee(Po(v))}`,...Ie?["return_tip=True",...er!=null?[`trash_location=${er}`]:[]]:[`trash_location=${hr}`,"keep_last_tip=True"],...De.channels>1?["group_wells=False"]:[],...Kr.filteredSortedTiprackIds.length>0?[Ro({labwareEntities:me,tiprackIds:Kr.filteredSortedTiprackIds})]:[],`liquid_class=${tr}`,...Bt!=null&&br!=null?[`tips=[${gr}]`]:[]],Zr=()=>({commands:[],python:`${Ut}.distribute_with_liquid_class(
-${ve(Bn.join(`,
+)`,Vt=ye===Et&&$e!=null&&Xe!=null&&Xe.length>0?qa({wellSets:Xe,nozzles:$,channels:fe.channels,primaryNozzle:q}):null,gr=$e!=null?ie[$e]?.pythonName:null,Ir=Vt?.map(ue=>`${gr}[${N(ue)}]`).join(", "),Vn=[`volume=${ke}`,`source=[${Bn}]`,`dest=[${Tr??qn}]`,`new_tip=${N(Ls(L))}`,...Q?["return_tip=True",...nr!=null?[`trash_location=${nr}`]:[]]:[`trash_location=${br}`,"keep_last_tip=True"],...fe.channels>1?["group_wells=False"]:[],...Zr.filteredSortedTiprackIds.length>0?[Ss({labwareEntities:ie,tiprackIds:Zr.filteredSortedTiprackIds})]:[],`liquid_class=${ar}`,...Vt!=null&&gr!=null?[`tips=[${Ir}]`]:[]],Jr=()=>({commands:[],python:`${$t}.distribute_with_liquid_class(
+${Z(Vn.join(`,
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-)`}),jn={origin:f.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[y],offset:{x:h,y:g,z:T}},Jr={origin:f.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[s],offset:{x:u,y:c,z:p}},rr={origin:f.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[x],offset:{x:w,y:R,z:E}},_r={origin:f.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[fe],offset:{x:ge,y:le,z:re}},$n=f.getByVolumeValue({liquidClass:P,pipetteSpecs:De,tiprackDefUri:Te,targetVolume:nt,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??a,ja=f.getByVolumeValue({liquidClass:P,pipetteSpecs:De,tiprackDefUri:Te,targetVolume:nt,liquidHandlingAction:"multiDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??$,Ue=f.getByVolumeValue({liquidClass:P,pipetteSpecs:De,tiprackDefUri:Te,targetVolume:Ke,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??a,Le=f.getByVolumeValue({liquidClass:P,pipetteSpecs:De,tiprackDefUri:Te,targetVolume:Ke,liquidHandlingAction:"multiDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??$,ht=q_(N,Qt),yt=Nr({retractZOffset:p,retractPositionReference:s,labwareId:de,labwareEntities:me,well:J}),Ve=!yt&&J!=null?[j(ye,{pipetteId:H,labwareId:de,wellName:J,wellLocation:f.SAFE_MOVE_TO_WELL_LOCATION})]:[],xn=[...dn(ht,(Re,it)=>{const nr=Re.length,Tr=se*nr,Er=Tr+Fe+at,Vn=it===0,Hn=it===ht.length-1,bt=v==="always"||v==="once"&&Vn,Gn=f.LOW_VOLUME_PIPETTES.includes(ot)?[j(na,{pipetteId:H,volume:Er})]:[];let ar=[];if(bt){const ze=Bt?.shift();ar=[ae(Ma,{pipette:H,nozzles:z,primaryNozzle:K,dropTipLocation:Ie&&Zt!=null?Zt:q,tipRack:Te,...B===wt&&ze!=null&&qe!=null?{tipSelectionArgs:{tipRackId:qe,tipWell:ze}}:{}})]}const wr=[j(qt,{pipetteId:H})],jt=f.getByVolumeValue({liquidClass:P,pipetteSpecs:De,tiprackDefUri:Te,targetVolume:Ke,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,$t=V!=null?[j(Me,{seconds:V.seconds})]:[],Qr=Ke>0&&!bt&&!Vn&&Fe===0&&O==null?[j(st,{isAirGap:!0,pipetteId:H,volume:Ke,flowRate:Le,...jt>0?{correctionVolume:jt}:{},pushOut:0}),...$t]:[],Ir=[...Wr,...Qr,...Gn,...wr],or=[j(ye,{pipetteId:H,labwareId:de,wellName:J,wellLocation:jn}),j(ye,{pipetteId:H,labwareId:de,...b!=null?{speed:b}:{},wellName:J,wellLocation:{origin:f.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[o],offset:{x:m,y:_,z:I}}}),...d!=null&&d.seconds>0?[j(Me,{seconds:d.seconds})]:[]],en=oe?Pr({pipette:H,volume:Tr,times:1,aspirateFlowRateUlSec:a,dispenseFlowRateUlSec:$,aspirateDelaySeconds:n?.seconds??0,dispenseDelaySeconds:V?.seconds??0,finalPushOut:0,invariantContext:t,liquidClass:P,tiprack:Te,generatePython:!1}):[],He=D!=null?Pr({pipette:H,volume:D.volume,times:D.times,aspirateFlowRateUlSec:a,dispenseFlowRateUlSec:$,aspirateDelaySeconds:n?.seconds,dispenseDelaySeconds:V?.seconds,finalPushOut:0,invariantContext:t,liquidClass:P,tiprack:Te,generatePython:!1}):[],xt=n!=null?[j(Me,{seconds:n.seconds})]:[],Sr=Ce?[j(Ct,{pipetteId:H,labwareId:de,wellName:J,...Ee!=null?{mmFromEdge:Ee}:{},zOffsetFromTop:k,...F!=null?{speed:F}:{}}),...nt>0&&yt?[j(ye,{pipetteId:H,labwareId:de,wellName:J,wellLocation:Jr})]:[]]:[],gt=f.getByVolumeValue({liquidClass:P,pipetteSpecs:De,tiprackDefUri:Te,targetVolume:nt,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Vt=nt>0?[...Ve,j(Yt,{pipetteId:H,volume:nt,flowRate:$n,...gt>0?{correctionVolume:gt}:{}}),...xt]:[],zn=f.getByVolumeValue({liquidClass:P,pipetteSpecs:De,tiprackDefUri:Te,targetVolume:Er,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,tn=f.getByVolumeValue({liquidClass:P,pipetteSpecs:De,tiprackDefUri:Te,targetVolume:at,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,rn=at!=null&&at>0?[j(st,{pipetteId:H,volume:at,flowRate:$,correctionVolume:tn,pushOut:0}),...$t]:[],Wn=[j(mo,{pipetteId:H,volume:Er,flowRate:a,correctionVolume:zn}),...xt,...rn],nn=[j(ye,{pipetteId:H,labwareId:de,...l!=null?{speed:l}:{},wellName:J,wellLocation:Jr}),...i!=null&&i?.seconds>0?[j(Me,{seconds:i.seconds})]:[]],Ar=dn(Re,(ze,Or)=>{const an=Or===0,ir=Or===Re.length-1,vr=Hn&&ir;let Ht=0,sr=$;an&&nt>0?(Ht=nt,sr=ja):!an&&Ke>0&&at===0&&(Ht=Ke,sr=Le);const Kn=f.getByVolumeValue({liquidClass:P,pipetteSpecs:De,tiprackDefUri:Te,targetVolume:Ht,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,$a=Nr({retractZOffset:re,retractPositionReference:fe,labwareId:C,labwareEntities:me,well:ze}),Co=$a?[]:[j(ye,{pipetteId:H,labwareId:C,wellName:ze,wellLocation:f.SAFE_MOVE_TO_WELL_LOCATION})],xa=ze!=null?[j(ye,{pipetteId:H,labwareId:C,wellName:ze,wellLocation:rr}),...Ht>0?[j(st,{isAirGap:!0,pipetteId:H,volume:Ht,flowRate:sr,pushOut:0,correctionVolume:Kn}),...$t]:[],j(ye,{pipetteId:H,labwareId:C,...W!=null?{speed:W}:{},wellName:ze,wellLocation:{origin:f.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[G],offset:{x:A,y:L,z:M}}}),...U!=null&&U.seconds>0?[j(Me,{seconds:U.seconds})]:[]]:[j(Xe,{fixtureId:C,pipetteId:H,offset:{x:0,y:0,z:0}})],Xn=Fe===0&&ir?ue:0,_t=[j(st,{pipetteId:H,volume:se,flowRate:$,...Xn!=null?{pushOut:Xn}:{},correctionVolume:Dn}),...$t],on=ze!=null?[j(ye,{pipetteId:H,labwareId:C,...be!=null?{speed:be}:{},wellName:ze,wellLocation:_r}),...X!=null&&X?.seconds>0?[j(Me,{seconds:X.seconds})]:[]]:[],Pt=ir?[j(Ea,{pipetteId:H,flowRate:S})]:[],Va=f.getByVolumeValue({liquidClass:P,pipetteSpecs:De,tiprackDefUri:Te,targetVolume:Ke,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,kt=(Zn,z_=!0)=>Ke>0&&!(Or<Re.length-1&&at>0)&&!(v==="never"&&vr&&Zn)?[...z_?Co:[],j(qt,{pipetteId:H}),j(Yt,{pipetteId:H,volume:Ke,flowRate:Ue,...Va>0?{correctionVolume:Va}:{}}),...xt]:[],Tt=Zn=>ze!=null&&Y?[j(Ct,{pipetteId:H,labwareId:C,wellName:ze,...Q!=null?{mmFromEdge:Q}:{},zOffsetFromTop:Z,...ie!=null?{speed:ie}:{}}),...kt(Zn).length>0&&$a?[j(ye,{pipetteId:H,labwareId:C,wellName:ze,wellLocation:_r})]:[]]:[];let Lr=[];if(O==null||!ir)Lr=[...Tt(!0),...kt(!0)];else if(O===In)Lr=[j(ye,{pipetteId:H,labwareId:C,wellName:ze,wellLocation:{origin:f.WELL_ORIGIN_TOP}}),...Pt,...Tt(!0),...kt(!0)];else if(O===$r){const Zn=kt(!0);Lr=[...Tt(!1),...kt(!1),j(ye,{pipetteId:H,labwareId:de,wellName:J,wellLocation:{origin:f.WELL_ORIGIN_TOP}}),...Pt,...Y&&!rt?[j(Ct,{pipetteId:H,labwareId:de,wellName:J,...Q!=null?{mmFromEdge:Q}:{},zOffsetFromTop:Z,...ie!=null?{speed:ie}:{}})]:[],...Zn.length>0?[j(ye,{pipetteId:H,labwareId:de,wellName:J,wellLocation:{origin:f.WELL_ORIGIN_TOP}})]:[],...kt(!0,!1)]}else Lr=[...Tt(!1),...kt(!1),j(Xe,{pipetteId:H,fixtureId:Object.values(he).length>0?Object.values(he)[0].id:Object.values(Ze)[0].id,offset:{x:0,y:0,z:0}}),...Pt,...kt(!0,!1)];return[...xa,..._t,...on,...Lr]}),Yn=Ie&&(it===ht.length-1||v==="always")?[j(wn,{pipette:H,dropTipLocation:Te,isReturnTip:Ie})]:[];return[...ar,...Ir,...or,...He,...en,...Wn,...nn,...Sr,...Vt,...Ar,...Yn]}),Zr];return Ne(xn,t,r)},GO=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"heaterShaker/closeLabwareLatch",key:ne(),params:{moduleId:e.moduleId}}],python:`${n}.close_labware_latch()`}},rb=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"heaterShaker/deactivateHeater",key:ne(),params:{moduleId:e.moduleId}}],python:`${n}.deactivate_heater()`}},zO=["1","4","7","10"],WO=(e,t,r)=>{const{pipetteEntities:n,labwareEntities:a,moduleEntities:o}=t,i=r.modules[e.moduleId].slot,s=Object.keys(n)[0],l=n[s]?.spec;if(!((l?.displayCategory==="FLEX"||l?.channels===96)??!1)&&l_(r.labware,a,i)){const p=zO.includes(i)?"right":"left";return{errors:[iT(p)]}}const c=o[e.moduleId].pythonName;return{commands:[{commandType:"heaterShaker/openLabwareLatch",key:ne(),params:{moduleId:e.moduleId}}],python:`${c}.open_labware_latch()`}},YO=(e,t,r)=>{const{moduleEntities:n}=t,{moduleId:a,rpm:o}=e;if(a===null)return{errors:[ke()]};jr(n[a]?.type===f.HEATERSHAKER_MODULE_TYPE,`expected module ${a} to be heaterShaker, got ${n[a]?.type}`);const i=n[a].pythonName;return{commands:[{commandType:"heaterShaker/setAndWaitForShakeSpeed",key:ne(),params:{moduleId:a,rpm:o}}],python:`${i}.set_and_wait_for_shake_speed(${o})`}},nb=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"heaterShaker/deactivateShaker",key:ne(),params:{moduleId:e.moduleId}}],python:`${n}.deactivate_shaker()`}},KO=(e,t,r)=>{const{timerHours:n,timerMinutes:a,timerSeconds:o,latchOpen:i,targetTemperature:s,rpm:l}=e;if(e.moduleId==null)return{errors:[ke()]};const u=St(r,e.moduleId),c=e.moduleId??"";if(u==null)return{errors:[ke()]};const p=[];if(i||p.push(ae(GO,{moduleId:c})),s===null?p.push(ae(rb,{moduleId:c})):p.push(ae(bg,{moduleId:c,celsius:s})),l===null&&"targetSpeed"in u&&u.targetSpeed!==null?p.push(ae(nb,{moduleId:c})):l!==null&&p.push(ae(YO,{moduleId:c,rpm:l})),[n,a,o].some(y=>y!=null&&y!==0)){s!==null&&p.push(ae(gg,{moduleId:c,celsius:s}));const y=(n??0)*3600+(a??0)*60+(o??0);p.push(ae(Me,{seconds:y})),p.push(ae(nb,{moduleId:c})),p.push(ae(rb,{moduleId:c}))}return i&&p.push(ae(WO,{moduleId:c})),Ne(p,t,r)},U_=(e,t,r)=>{const{moduleId:n}=e,{moduleEntities:a,labwareEntities:o}=t,i=[],s=a[n].pythonName,u=Object.values(r.labware).filter(d=>d.stack.includes(n)).find(d=>d.stack.find(y=>o[y]?.def.allowedRoles?.includes("lid")&&o[y]?.def.parameters.loadName!=="opentrons_tough_pcr_auto_sealing_lid")),c=u!=null?Op(u.stack):null,p=c!=null?o[c].def.metadata.displayName:null;return p!=null&&i.push(hT({lidDisplayName:p})),i.length>0?{errors:i}:{commands:[{commandType:"thermocycler/closeLid",key:ne(),params:{moduleId:n}}],python:`${s}.close_lid()`}},B_=(e,t,r)=>{const{moduleId:n,celsius:a}=e,o=t.moduleEntities[n].pythonName;return{commands:[{commandType:"thermocycler/setTargetLidTemperature",key:ne(),params:{moduleId:n,celsius:a}}],python:`${o}.set_lid_temperature(${a})`}},XO=(e,t,r)=>{const{moduleId:n,profileElements:a,profileTargetLidTemp:o,profileVolume:i}=e,s=No(r,n);if(s===null)return{errors:[ke()]};const l=t.moduleEntities[n].pythonName,u=[];s.lidOpen!==!1&&u.push(ae(U_,{moduleId:n})),o!==s.lidTargetTemp&&u.push(ae(B_,{moduleId:n,celsius:o}));const c=`${l}_task_${s.numProfilesStarted+1}`;return u.push(ae(cI,{moduleId:n,profileElements:a,blockMaxVolumeUl:i,taskId:c})),Ne(u,t,r)},ZO=()=>({lidOpen:!1,lidClosed:!1,setBlockTemperature:!1,deactivateBlockTemperature:!1,setLidTemperature:!1,deactivateLidTemperature:!1}),JO=(e,t)=>!e.lidOpen&&t.lidOpen?{lidOpen:!0}:{},QO=(e,t)=>e.lidOpen&&!t.lidOpen||e.lidOpen===null&&!t.lidOpen?{lidClosed:!0}:{},ev=(e,t)=>t==null?e.currentBlockActivity.type==="blockDeactivated":e.currentBlockActivity.type==="blockTargetTemp"&&e.currentBlockActivity.blockTargetTemp===t,tv=(e,t)=>{const r={...JO(e,t)},n={...QO(e,t)},a=!ev(e,t.blockTargetTemp),o=a&&t.blockTargetTemp===null,i=a&&t.blockTargetTemp!==null,s=e.lidTargetTemp!==t.lidTargetTemp,l=s&&t.lidTargetTemp===null,u=s&&t.lidTargetTemp!==null;return{...ZO(),...r,...n,setBlockTemperature:i,deactivateBlockTemperature:o,setLidTemperature:u,deactivateLidTemperature:l}},rv=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"thermocycler/deactivateBlock",key:ne(),params:{moduleId:e.moduleId}}],python:`${n}.deactivate_block()`}},nv=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"thermocycler/deactivateLid",key:ne(),params:{moduleId:e.moduleId}}],python:`${n}.deactivate_lid()`}},av=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"thermocycler/openLid",key:ne(),params:{moduleId:e.moduleId}}],python:`${n}.open_lid()`}},ov=(e,t,r)=>{e.celsius!==void 0&&console.warn("'volume' param not implemented for thermocycler/setTargetBlockTemperature, should not be set!");const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"thermocycler/setTargetBlockTemperature",key:ne(),params:{moduleId:e.moduleId,celsius:e.celsius}}],python:`${n}.set_block_temperature(${e.celsius})`}},iv=(e,t,r)=>{const n=No(r,e.moduleId);if(n===null)return{errors:[ke()]};if(n.currentBlockActivity.type==="profile")return{errors:[eT()]};const{lidOpen:a,lidClosed:o,setBlockTemperature:i,deactivateBlockTemperature:s,setLidTemperature:l,deactivateLidTemperature:u}=tv(n,e),{blockTargetTemp:c,lidTargetTemp:p}=e,d=[];return a&&d.push(ae(av,{moduleId:e.moduleId})),o&&d.push(ae(U_,{moduleId:e.moduleId})),s&&d.push(ae(rv,{moduleId:e.moduleId})),c!==null&&i&&d.push(ae(ov,{moduleId:e.moduleId,celsius:c})),u&&d.push(ae(nv,{moduleId:e.moduleId})),p!==null&&l&&d.push(ae(B_,{moduleId:e.moduleId,celsius:p})),Ne(d,t,r)};var Rc,ab;function sv(){if(ab)return Rc;ab=1;var e=ya(),t=zg(),r=Wg();function n(a,o){return r(t(a,o,e),a+"")}return Rc=n,Rc}var Pc,ob;function lv(){if(ob)return Pc;ob=1;var e=Br(),t=Kt();function r(n){return t(n)&&e(n)}return Pc=r,Pc}var kc,ib;function uv(){if(ib)return kc;ib=1;var e=xb(),t=ga(),r=Jb(),n=Hb(),a=lv(),o=Math.max;function i(s){if(!(s&&s.length))return[];var l=0;return s=e(s,function(u){if(a(u))return l=o(u.length,l),!0}),n(l,function(u){return t(s,r(u))})}return kc=i,kc}var Nc,sb;function cv(){if(sb)return Nc;sb=1;var e=sv(),t=uv(),r=e(t);return Nc=r,Nc}var pv=cv();const fv=Ye(pv),dv=(e,t,r)=>{const{aspirateAirGapVolume:n,aspirateDelay:a,aspirateFlowRateUlSec:o,aspiratePositionReference:i,aspirateRetractDelay:s,aspirateRetractPositionReference:l,aspirateRetractSpeed:u,aspirateRetractXOffset:c,aspirateRetractYOffset:p,aspirateRetractZOffset:d,aspirateSubmergeDelay:y,aspirateSubmergePositionReference:b,aspirateSubmergeSpeed:h,aspirateSubmergeXOffset:g,aspirateSubmergeYOffset:T,aspirateSubmergeZOffset:m,aspirateXOffset:_,aspirateYOffset:I,aspirateZOffset:S,blowoutFlowRateUlSec:O,blowoutLocation:v,changeTip:C,destLabware:N,destWells:V,dispenseAirGapVolume:$,dispenseDelay:G,dispenseFlowRateUlSec:X,dispensePositionReference:fe,dispenseRetractDelay:be,dispenseRetractPositionReference:ge,dispenseRetractSpeed:le,dispenseRetractXOffset:re,dispenseRetractYOffset:U,dispenseRetractZOffset:x,dispenseSubmergeDelay:W,dispenseSubmergePositionReference:w,dispenseSubmergeSpeed:R,dispenseSubmergeXOffset:E,dispenseSubmergeYOffset:A,dispenseSubmergeZOffset:L,dispenseXOffset:M,dispenseYOffset:q,dispenseZOffset:P,dropTipLocation:D,liquidClass:z,mixBeforeAspirate:H,mixInDestination:oe,pipette:K,preWetTip:ue,primaryNozzle:de,pushOut:J,sourceLabware:ce,nozzles:B,sourceWells:qe,tipRack:Oe,tipTracking:Ce,tiprackSelected:Ee,tipsSelected:k,touchTipAfterAspirate:F,touchTipAfterAspirateMmFromEdge:Y,touchTipAfterAspirateOffsetMmFromTop:Q,touchTipAfterAspirateSpeed:Z,touchTipAfterDispense:ie,touchTipAfterDispenseMmFromEdge:te,touchTipAfterDispenseOffsetMmFromTop:se,touchTipAfterDispenseSpeed:pe,volume:me,stepNumber:he}=e,{pipetteEntities:Ze,trashBinEntities:Be,wasteChuteEntities:_e,labwareEntities:Se}=t,rt=Sn(Se,_e,Be,N),nt=Se[ce]?.def.parameters.quirks?.includes("touchTipDisabled");rt==="labware"&&V!=null&&qe.length===V.length||(rt==="wasteChute"||rt==="trashBin")&&V==null&&qe.length>=1||jr(!1,`Transfer command creator expected N:N source-to-dest wells ratio. Got ${qe.length}:${V?.length} in labware`);const Ke="transfer",Fe=[];(!r.pipettes[K]||!Ze[K])&&Fe.push(ft({pipette:K})),(!ce||!r.labware[ce])&&Fe.push(dt({actionName:Ke,labware:ce}));const at=r.labware[N]!=null?we(r.labware[N].stack):"",Hr=we(r.labware[ce]?.stack),At=Object.keys(_e).length>0,Ua=_e[D]!=null,Gr=Be[D]!=null;At&&(at===f.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA||Hr===f.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA)&&Fe.push(ma());const Zt=[...Object.keys(t.trashBinEntities),...Object.keys(t.wasteChuteEntities)],ut=Zt.length>0?Zt[0]:null,Ie=Object.values(t.labwareEntities).find(({labwareDefURI:Le})=>Le===D),Ot=Ie!=null&&f.getIsTiprack(Ie.def),je=r.tipState.pipettes[K]?.hasTip;if(D==null||Ot&&ut==null&&C!=="never"&&je||!Ot&&!Ua&&!Gr)return{errors:[yn()]};(!N||!Se[N]&&!_e[N]&&!Be[N])&&Fe.push(db());let vt,Ae;if(C==="never"){const Le=r.tipState.pipettes[K]?.tiprackURI;vt=t.labwareEntities[Le??""],Ae=vt?.labwareDefURI}else vt=Object.values(Se).find(({labwareDefURI:Le})=>Le===Oe),Ae=Oe;if(vt==null&&(C==="never"?Fe.push(Ft({actionName:Ke,pipette:K})):Fe.push(dt({actionName:Ke,labware:Ae}))),Fe.length>0)return{errors:Fe};const Te=n||0,ct=$||0,De=ko(K,t,Ae)-Te;if(De<=0||!isFinite(De))return Fe.push(Xa({volume:me,maxVolume:De,actionName:Ke})),{errors:Fe};const ot=Math.ceil(me/De);if(!isFinite(ot)||ot<=0)return Fe.push(Xa({volume:me,maxVolume:ot,actionName:Ke})),{errors:Fe};const Ut=me/ot,Lt=Array(ot).fill(Ut),zr={origin:f.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[b],offset:{x:g,y:T,z:m}},Jt={origin:f.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[l],offset:{x:c,y:p,z:d}},pr={origin:f.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[w],offset:{x:E,y:A,z:L}},Qt={origin:f.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[ge],offset:{x:re,y:U,z:x}},{spec:xe,name:Rt,pythonName:fr}=Ze[K],{tipracks:dr}=Fa(K,Ae,t,r,de,B),Wr=f.getAllLiquidClassDefs()[z===f.NONE_LIQUID_CLASS_NAME||z==null?f.WATER_LIQUID_CLASS_NAME:z].byPipette?.find(({pipetteModel:Le})=>Le===f.getFlexNameConversion(xe))?.byTipType.find(({tiprack:Le})=>Le===Ae)??null,mr=f.getByVolumeValue({liquidClass:z,pipetteSpecs:xe,tiprackDefUri:Ae,targetVolume:Ut,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Yr=f.getByVolumeValue({liquidClass:z,pipetteSpecs:xe,tiprackDefUri:Ae,targetVolume:Ut,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Kr=Be[N]?.pythonName??_e[N]?.pythonName,Dn=Be[D]?.pythonName??_e[D]?.pythonName,qn=v==null?null:Be[v]?.pythonName??_e[v]?.pythonName,hr=Se[ce].pythonName,er=Se[N]?.pythonName,Fn=qe.map(Le=>`${hr}[${ee(Le)}]`).join(", "),Xr=V!=null&&er!=null?V.map(Le=>`${er}[${ee(Le)}]`).join(", "):null,Mn=[`name=${ee(`${e.commandCreatorFnName}_step_${he}`)}`,...z!=null?[`base_liquid_class=${Da(z,!0)}`]:[],`properties=${Lo({args:e,pipetteName:f.isFlexPipette(Rt)?f.getFlexNameConversion(xe):Rt,tiprackUri:Ae,liquidClassValuesForTip:Wr})}`],yr=`${$e}.define_liquid_class(
-${ve(Mn.join(`,
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or=ue.length,wr=ke*or,Ar=wr+me+et,zn=rt===0,Gn=rt===ht.length-1,yt=L==="always"||L==="once"&&zn,Wn=c.LOW_VOLUME_PIPETTES.includes(tt)?[O(sa,{pipetteId:C,volume:Ar})]:[];let ir=[];if(yt){const Ce=Vt?.shift();ir=[U(Ba,{pipette:C,nozzles:$,primaryNozzle:q,dropTipLocation:Q&&er!=null?er:Y,tipRack:j,...ye===Et&&Ce!=null&&$e!=null?{tipSelectionArgs:{tipRackId:$e,tipWell:Ce}}:{}})]}const Sr=[O(qt,{pipetteId:C})],xt=c.getByVolumeValue({liquidClass:P,pipetteSpecs:fe,tiprackDefUri:j,targetVolume:Me,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Ht=k!=null?[O(he,{seconds:k.seconds})]:[],tn=Me>0&&!yt&&!zn&&me===0&&I==null?[O(nt,{isAirGap:!0,pipetteId:C,volume:Me,flowRate:le,...xt>0?{correctionVolume:xt}:{},pushOut:0}),...Ht]:[],Lr=[...Kr,...tn,...Wn,...Sr],lr=[O(V,{pipetteId:C,labwareId:H,wellName:M,wellLocation:xn}),O(V,{pipetteId:C,labwareId:H,...m!=null?{speed:m}:{},wellName:M,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[s],offset:{x:y,y:S,z:w}}}),...f!=null&&f.seconds>0?[O(he,{seconds:f.seconds})]:[]],rn=ae?Cr({pipette:C,volume:wr,times:1,aspirateFlowRateUlSec:a,dispenseFlowRateUlSec:R,aspirateDelaySeconds:n?.seconds??0,dispenseDelaySeconds:k?.seconds??0,finalPushOut:0,invariantContext:t,liquidClass:P,tiprack:j,generatePython:!1}):[],Ae=v!=null?Cr({pipette:C,volume:v.volume,times:v.times,aspirateFlowRateUlSec:a,dispenseFlowRateUlSec:R,aspirateDelaySeconds:n?.seconds,dispenseDelaySeconds:k?.seconds,finalPushOut:0,invariantContext:t,liquidClass:P,tiprack:j,generatePython:!1}):[],jt=n!=null?[O(he,{seconds:n.seconds})]:[],Or=Ve?[O(Mt,{pipetteId:C,labwareId:H,wellName:M,...pe!=null?{mmFromEdge:pe}:{},zOffsetFromTop:Ze,...ft!=null?{speed:ft}:{}}),...Je>0&&_t?[O(V,{pipetteId:C,labwareId:H,wellName:M,wellLocation:en})]:[]]:[],bt=c.getByVolumeValue({liquidClass:P,pipetteSpecs:fe,tiprackDefUri:j,targetVolume:Je,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,zt=Je>0?[...we,O(Zt,{pipetteId:C,volume:Je,flowRate:Hn,...bt>0?{correctionVolume:bt}:{}}),...jt]:[],Yn=c.getByVolumeValue({liquidClass:P,pipetteSpecs:fe,tiprackDefUri:j,targetVolume:Ar,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,nn=c.getByVolumeValue({liquidClass:P,pipetteSpecs:fe,tiprackDefUri:j,targetVolume:et,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,an=et!=null&&et>0?[O(nt,{pipetteId:C,volume:et,flowRate:R,correctionVolume:nn,pushOut:0}),...Ht]:[],Kn=[O(ms,{pipetteId:C,volume:Ar,flowRate:a,correctionVolume:Yn}),...jt,...an],sn=[O(V,{pipetteId:C,labwareId:H,...l!=null?{speed:l}:{},wellName:M,wellLocation:en}),...o!=null&&o?.seconds>0?[O(he,{seconds:o.seconds})]:[]],Rr=hn(ue,(Ce,kr)=>{const on=kr===0,ur=kr===ue.length-1,vr=Gn&&ur;let Gt=0,cr=R;on&&Je>0?(Gt=Je,cr=xa):!on&&Me>0&&et===0&&(Gt=Me,cr=le);const Zn=c.getByVolumeValue({liquidClass:P,pipetteSpecs:fe,tiprackDefUri:j,targetVolume:Gt,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Ha=Fr({retractZOffset:Se,retractPositionReference:te,labwareId:A,labwareEntities:ie,well:Ce}),ks=Ha?[]:[O(V,{pipetteId:C,labwareId:A,wellName:Ce,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})],ja=Ce!=null?[O(V,{pipetteId:C,labwareId:A,wellName:Ce,wellLocation:sr}),...Gt>0?[O(nt,{isAirGap:!0,pipetteId:C,volume:Gt,flowRate:cr,pushOut:0,correctionVolume:Zn}),...Ht]:[],O(V,{pipetteId:C,labwareId:A,...Ue!=null?{speed:Ue}:{},wellName:Ce,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[B],offset:{x:Be,y:re,z:W}}}),...ve!=null&&ve.seconds>0?[O(he,{seconds:ve.seconds})]:[]]:[O(qe,{fixtureId:A,pipetteId:C,offset:{x:0,y:0,z:0}})],Qn=me===0&&ur?x:0,Tt=[O(nt,{pipetteId:C,volume:ke,flowRate:R,...Qn!=null?{pushOut:Qn}:{},correctionVolume:Fn}),...Ht],ln=Ce!=null?[O(V,{pipetteId:C,labwareId:A,...de!=null?{speed:de}:{},wellName:Ce,wellLocation:Er}),...F!=null&&F?.seconds>0?[O(he,{seconds:F.seconds})]:[]]:[],Nt=ur?[O(Sa,{pipetteId:C,flowRate:g})]:[],za=c.getByVolumeValue({liquidClass:P,pipetteSpecs:fe,tiprackDefUri:j,targetVolume:Me,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Ct=(Jn,Ny=!0)=>Me>0&&!(kr<ue.length-1&&et>0)&&!(L==="never"&&vr&&Jn)?[...Ny?ks:[],O(qt,{pipetteId:C}),O(Zt,{pipetteId:C,volume:Me,flowRate:be,...za>0?{correctionVolume:za}:{}}),...jt]:[],gt=Jn=>Ce!=null&&St?[O(Mt,{pipetteId:C,labwareId:A,wellName:Ce,...mt!=null?{mmFromEdge:mt}:{},zOffsetFromTop:Oe,...Qe!=null?{speed:Qe}:{}}),...Ct(Jn).length>0&&Ha?[O(V,{pipetteId:C,labwareId:A,wellName:Ce,wellLocation:Er})]:[]]:[];let Pr=[];if(I==null||!ur)Pr=[...gt(!0),...Ct(!0)];else if(I===Sn)Pr=[O(V,{pipetteId:C,labwareId:A,wellName:Ce,wellLocation:{origin:c.WELL_ORIGIN_TOP}}),...Nt,...gt(!0),...Ct(!0)];else if(I===Hr){const Jn=Ct(!0);Pr=[...gt(!1),...Ct(!1),O(V,{pipetteId:C,labwareId:H,wellName:M,wellLocation:{origin:c.WELL_ORIGIN_TOP}}),...Nt,...St&&!fr?[O(Mt,{pipetteId:C,labwareId:H,wellName:M,...mt!=null?{mmFromEdge:mt}:{},zOffsetFromTop:Oe,...Qe!=null?{speed:Qe}:{}})]:[],...Jn.length>0?[O(V,{pipetteId:C,labwareId:H,wellName:M,wellLocation:{origin:c.WELL_ORIGIN_TOP}})]:[],...Ct(!0,!1)]}else Pr=[...gt(!1),...Ct(!1),O(qe,{pipetteId:C,fixtureId:Object.values(ne).length>0?Object.values(ne)[0].id:Object.values(Lt)[0].id,offset:{x:0,y:0,z:0}}),...Nt,...Ct(!0,!1)];return[...ja,...Tt,...ln,...Pr]}),Xn=Q&&(rt===ht.length-1||L==="always")?[O(wn,{pipette:C,dropTipLocation:j,isReturnTip:Q})]:[];return[...ir,...Lr,...lr,...Ae,...rn,...Kn,...sn,...Or,...zt,...Rr,...Xn]}),Jr];return ce(jn,t,r)},EA=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"heaterShaker/closeLabwareLatch",key:D(),params:{moduleId:e.moduleId}}],python:`${n}.close_labware_latch()`}},Xm=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"heaterShaker/deactivateHeater",key:D(),params:{moduleId:e.moduleId}}],python:`${n}.deactivate_heater()`}},wA=["1","4","7","10"],AA=(e,t,r)=>{const{pipetteEntities:n,labwareEntities:a,moduleEntities:s}=t,o=r.modules[e.moduleId].slot,i=Object.keys(n)[0],l=n[i]?.spec;if(!((l?.displayCategory==="FLEX"||l?.channels===96)??!1)&&W_(r.labware,a,o)){const d=wA.includes(o)?"right":"left";return{errors:[Gy(d)]}}const p=s[e.moduleId].pythonName;return{commands:[{commandType:"heaterShaker/openLabwareLatch",key:D(),params:{moduleId:e.moduleId}}],python:`${p}.open_labware_latch()`}},SA=(e,t,r)=>{const{moduleEntities:n}=t,{moduleId:a,rpm:s}=e;if(a===null)return{errors:[X()]};if(n[a]?.type!==c.HEATERSHAKER_MODULE_TYPE)throw new Error(`expected module ${a} to be heaterShaker, got ${n[a]?.type}`);const o=n[a].pythonName;return{commands:[{commandType:"heaterShaker/setAndWaitForShakeSpeed",key:D(),params:{moduleId:a,rpm:s}}],python:`${o}.set_and_wait_for_shake_speed(${s})`}},Zm=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"heaterShaker/deactivateShaker",key:D(),params:{moduleId:e.moduleId}}],python:`${n}.deactivate_shaker()`}},LA=(e,t,r)=>{const{timerHours:n,timerMinutes:a,timerSeconds:s,latchOpen:o,targetTemperature:i,rpm:l}=e;if(e.moduleId==null)return{errors:[X()]};const u=At(r,e.moduleId),p=e.moduleId??"";if(u==null)return{errors:[X()]};const d=[];if(o||d.push(U(EA,{moduleId:p})),i===null?d.push(U(Xm,{moduleId:p})):d.push(U(e_,{moduleId:p,celsius:i})),l===null&&"targetSpeed"in u&&u.targetSpeed!==null?d.push(U(Zm,{moduleId:p})):l!==null&&d.push(U(SA,{moduleId:p,rpm:l})),[n,a,s].some(_=>_!=null&&_!==0)){i!==null&&d.push(U(n_,{moduleId:p,celsius:i}));const _=(n??0)*3600+(a??0)*60+(s??0);d.push(U(he,{seconds:_})),d.push(U(Zm,{moduleId:p})),d.push(U(Xm,{moduleId:p}))}return o&&d.push(U(AA,{moduleId:p})),ce(d,t,r)},wy=(e,t,r)=>{const{moduleId:n}=e,{moduleEntities:a,labwareEntities:s}=t,o=[],i=a[n].pythonName,u=Object.values(r.labware).filter(f=>f.stack.includes(n)).find(f=>f.stack.find(_=>s[_]?.def.allowedRoles?.includes("lid")&&s[_]?.def.parameters.loadName!=="opentrons_tough_pcr_auto_sealing_lid")),p=u!=null?gc(u.stack):null,d=p!=null?s[p].def.metadata.displayName:null;return d!=null&&o.push(tb({lidDisplayName:d})),o.length>0?{errors:o}:{commands:[{commandType:"thermocycler/closeLid",key:D(),params:{moduleId:n}}],python:`${i}.close_lid()`}},Ay=(e,t,r)=>{const{moduleId:n,celsius:a}=e,s=t.moduleEntities[n].pythonName;return{commands:[{commandType:"thermocycler/setTargetLidTemperature",key:D(),params:{moduleId:n,celsius:a}}],python:`${s}.set_lid_temperature(${a})`}},OA=(e,t,r)=>{const{moduleId:n,profileElements:a,profileTargetLidTemp:s,profileVolume:o}=e,i=Rs(r,n);if(i===null)return{errors:[X()]};const l=t.moduleEntities[n].pythonName,u=[];i.lidOpen!==!1&&u.push(U(wy,{moduleId:n})),s!==i.lidTargetTemp&&u.push(U(Ay,{moduleId:n,celsius:s}));const p=`${l}_task_${i.numProfilesStarted+1}`;return u.push(U(Eg,{moduleId:n,profileElements:a,blockMaxVolumeUl:o,taskId:p})),ce(u,t,r)},RA=()=>({lidOpen:!1,lidClosed:!1,setBlockTemperature:!1,deactivateBlockTemperature:!1,setLidTemperature:!1,deactivateLidTemperature:!1}),kA=(e,t)=>!e.lidOpen&&t.lidOpen?{lidOpen:!0}:{},vA=(e,t)=>e.lidOpen&&!t.lidOpen||e.lidOpen===null&&!t.lidOpen?{lidClosed:!0}:{},PA=(e,t)=>t==null?e.currentBlockActivity.type==="blockDeactivated":e.currentBlockActivity.type==="blockTargetTemp"&&e.currentBlockActivity.blockTargetTemp===t,NA=(e,t)=>{const r={...kA(e,t)},n={...vA(e,t)},a=!PA(e,t.blockTargetTemp),s=a&&t.blockTargetTemp===null,o=a&&t.blockTargetTemp!==null,i=e.lidTargetTemp!==t.lidTargetTemp,l=i&&t.lidTargetTemp===null,u=i&&t.lidTargetTemp!==null;return{...RA(),...r,...n,setBlockTemperature:o,deactivateBlockTemperature:s,setLidTemperature:u,deactivateLidTemperature:l}},CA=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"thermocycler/deactivateBlock",key:D(),params:{moduleId:e.moduleId}}],python:`${n}.deactivate_block()`}},DA=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"thermocycler/deactivateLid",key:D(),params:{moduleId:e.moduleId}}],python:`${n}.deactivate_lid()`}},MA=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"thermocycler/openLid",key:D(),params:{moduleId:e.moduleId}}],python:`${n}.open_lid()`}},FA=(e,t,r)=>{e.celsius!==void 0&&console.warn("'volume' param not implemented for thermocycler/setTargetBlockTemperature, should not be set!");const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"thermocycler/setTargetBlockTemperature",key:D(),params:{moduleId:e.moduleId,celsius:e.celsius}}],python:`${n}.set_block_temperature(${e.celsius})`}},qA=(e,t,r)=>{const n=Rs(r,e.moduleId);if(n===null)return{errors:[X()]};if(n.currentBlockActivity.type==="profile")return{errors:[$y()]};const{lidOpen:a,lidClosed:s,setBlockTemperature:o,deactivateBlockTemperature:i,setLidTemperature:l,deactivateLidTemperature:u}=NA(n,e),{blockTargetTemp:p,lidTargetTemp:d}=e,f=[];return a&&f.push(U(MA,{moduleId:e.moduleId})),s&&f.push(U(wy,{moduleId:e.moduleId})),i&&f.push(U(CA,{moduleId:e.moduleId})),p!==null&&o&&f.push(U(FA,{moduleId:e.moduleId,celsius:p})),u&&f.push(U(DA,{moduleId:e.moduleId})),d!==null&&l&&f.push(U(Ay,{moduleId:e.moduleId,celsius:d})),ce(f,t,r)};var Ou,Qm;function UA(){if(Qm)return Ou;Qm=1;var e=ba(),t=P_(),r=N_();function n(a,s){return r(t(a,s,e),a+"")}return Ou=n,Ou}var Ru,Jm;function BA(){if(Jm)return Ru;Jm=1;var e=xr(),t=Qt();function r(n){return t(n)&&e(n)}return Ru=r,Ru}var ku,eh;function $A(){if(eh)return ku;eh=1;var e=Mh(),t=Ea(),r=zh(),n=qh(),a=BA(),s=Math.max;function o(i){if(!(i&&i.length))return[];var l=0;return i=e(i,function(u){if(a(u))return l=s(u.length,l),!0}),n(l,function(u){return t(i,r(u))})}return ku=o,ku}var vu,th;function VA(){if(th)return vu;th=1;var e=UA(),t=$A(),r=e(t);return vu=r,vu}var xA=VA();const HA=xe(xA),jA=(e,t,r)=>{const{aspirateAirGapVolume:n,aspirateDelay:a,aspirateFlowRateUlSec:s,aspiratePositionReference:o,aspirateRetractDelay:i,aspirateRetractPositionReference:l,aspirateRetractSpeed:u,aspirateRetractXOffset:p,aspirateRetractYOffset:d,aspirateRetractZOffset:f,aspirateSubmergeDelay:_,aspirateSubmergePositionReference:m,aspirateSubmergeSpeed:h,aspirateSubmergeXOffset:b,aspirateSubmergeYOffset:T,aspirateSubmergeZOffset:y,aspirateXOffset:S,aspirateYOffset:w,aspirateZOffset:g,blowoutFlowRateUlSec:I,blowoutLocation:L,changeTip:A,destLabware:E,destWells:k,dispenseAirGapVolume:R,dispenseDelay:B,dispenseFlowRateUlSec:F,dispensePositionReference:te,dispenseRetractDelay:de,dispenseRetractPositionReference:_e,dispenseRetractSpeed:oe,dispenseRetractXOffset:Se,dispenseRetractYOffset:ve,dispenseRetractZOffset:ze,dispenseSubmergeDelay:Ue,dispenseSubmergePositionReference:J,dispenseSubmergeSpeed:Le,dispenseSubmergeXOffset:Ge,dispenseSubmergeYOffset:Be,dispenseSubmergeZOffset:re,dispenseXOffset:W,dispenseYOffset:Y,dispenseZOffset:P,dropTipLocation:v,liquidClass:$,mixBeforeAspirate:C,mixInDestination:ae,pipette:q,preWetTip:x,primaryNozzle:H,pushOut:M,sourceLabware:G,nozzles:ye,sourceWells:$e,tipRack:Xe,tipTracking:Ve,tiprackSelected:pe,tipsSelected:Ze,touchTipAfterAspirate:ft,touchTipAfterAspirateMmFromEdge:St,touchTipAfterAspirateOffsetMmFromTop:mt,touchTipAfterAspirateSpeed:Oe,touchTipAfterDispense:Qe,touchTipAfterDispenseMmFromEdge:Re,touchTipAfterDispenseOffsetMmFromTop:ke,touchTipAfterDispenseSpeed:Pe,volume:ie,stepNumber:ne}=e,{pipetteEntities:Lt,trashBinEntities:We,wasteChuteEntities:K,labwareEntities:Ie}=t,fr=Ln(Ie,K,We,E),Je=Ie[G]?.def.parameters.quirks?.includes("touchTipDisabled");if(!(fr==="labware"&&k!=null&&$e.length===k.length||(fr==="wasteChute"||fr==="trashBin")&&k==null&&$e.length>=1))throw new Error(`Transfer command creator expected N:N source-to-dest wells ratio. Got ${$e.length}:${k?.length} in labware`);const Me="transfer",me=[];(!r.pipettes[q]||!Lt[q])&&me.push(ut({pipette:q})),(!G||!r.labware[G])&&me.push(ct({actionName:Me,labware:G}));const et=r.labware[E]!=null?z(r.labware[E].stack):"",Gr=z(r.labware[G]?.stack),Ot=Object.keys(K).length>0,$a=K[v]!=null,Wr=We[v]!=null;Ot&&(et===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA||Gr===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA)&&me.push(ha());const er=[...Object.keys(t.trashBinEntities),...Object.keys(t.wasteChuteEntities)],ot=er.length>0?er[0]:null,Q=Object.values(t.labwareEntities).find(({labwareDefURI:le})=>le===v),Rt=Q!=null&&c.getIsTiprack(Q.def),Te=r.tipState.pipettes[q]?.hasTip;if(v==null||Rt&&ot==null&&A!=="never"&&Te||!Rt&&!$a&&!Wr)return{errors:[yn()]};(!E||!Ie[E]&&!K[E]&&!We[E])&&me.push(ih());let kt,ee;if(A==="never"){const le=r.tipState.pipettes[q]?.tiprackURI;kt=t.labwareEntities[le??""],ee=kt?.labwareDefURI}else kt=Object.values(Ie).find(({labwareDefURI:le})=>le===Xe),ee=Xe;if(kt==null&&(A==="never"?me.push(Ut({actionName:Me,pipette:q})):me.push(ct({actionName:Me,labware:ee}))),me.length>0)return{errors:me};const j=n||0,it=R||0,fe=Os(q,t,ee)-j;if(fe<=0||!isFinite(fe))return me.push(Xa({volume:ie,maxVolume:fe,actionName:Me})),{errors:me};const tt=Math.ceil(ie/fe);if(!isFinite(tt)||tt<=0)return me.push(Xa({volume:ie,maxVolume:tt,actionName:Me})),{errors:me};const $t=ie/tt,vt=Array(tt).fill($t),Yr={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[m],offset:{x:b,y:T,z:y}},tr={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[l],offset:{x:p,y:d,z:f}},mr={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[J],offset:{x:Ge,y:Be,z:re}},rr={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[_e],offset:{x:Se,y:ve,z:ze}},{spec:Ee,name:Pt,pythonName:hr}=Lt[q],{tipracks:_r}=Ua(q,ee,t,r,H,ye),Kr=c.getAllLiquidClassDefs()[$===c.NONE_LIQUID_CLASS_NAME||$==null?c.WATER_LIQUID_CLASS_NAME:$].byPipette?.find(({pipetteModel:le})=>le===c.getFlexNameConversion(Ee))?.byTipType.find(({tiprack:le})=>le===ee)??null,yr=c.getByVolumeValue({liquidClass:$,pipetteSpecs:Ee,tiprackDefUri:ee,targetVolume:$t,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Xr=c.getByVolumeValue({liquidClass:$,pipetteSpecs:Ee,tiprackDefUri:ee,targetVolume:$t,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Zr=We[E]?.pythonName??K[E]?.pythonName,Fn=We[v]?.pythonName??K[v]?.pythonName,qn=L==null?null:We[L]?.pythonName??K[L]?.pythonName,br=Ie[G].pythonName,nr=Ie[E]?.pythonName,Un=$e.map(le=>`${br}[${N(le)}]`).join(", "),Qr=k!=null&&nr!=null?k.map(le=>`${nr}[${N(le)}]`).join(", "):null,Bn=[`name=${N(`${e.commandCreatorFnName}_step_${ne}`)}`,...$!=null?[`base_liquid_class=${Fa($,!0)}`]:[],`properties=${As({args:e,pipetteName:c.isFlexPipette(Pt)?c.getFlexNameConversion(Ee):Pt,tiprackUri:ee,liquidClassValuesForTip:Kr})}`],Tr=`${ge}.define_liquid_class(
+${Z(Bn.join(`,
 `))},
-)`,tr=Ce===wt&&Ee!=null&&k!=null&&k.length>0?qa({wellSets:k,nozzles:B,channels:xe.channels,primaryNozzle:de}):null,Un=Ee!=null?Se[Ee]?.pythonName:null,Bt=tr?.map(Le=>`${Un}[${ee(Le)}]`).join(", "),br=[`volume=${me}`,`source=[${Fn}]`,`dest=${Xr!=null?`[${Xr}]`:Kr}`,`new_tip=${ee(Po(C))}`,...Ot?["return_tip=True",...qn!=null?[`trash_location=${qn}`]:[]]:[`trash_location=${Dn}`,"keep_last_tip=True"],...xe.channels>1?["group_wells=False"]:[],...dr.filteredSortedTiprackIds.length>0?[Ro({labwareEntities:Se,tiprackIds:dr.filteredSortedTiprackIds})]:[],`liquid_class=${yr}`,...tr!=null&&Un!=null?[`tips=[${Bt}]`]:[]],gr=()=>({commands:[],python:`${fr}.transfer_with_liquid_class(
-${ve(br.join(`,
+)`,ar=Ve===Et&&pe!=null&&Ze!=null&&Ze.length>0?qa({wellSets:Ze,nozzles:ye,channels:Ee.channels,primaryNozzle:H}):null,$n=pe!=null?Ie[pe]?.pythonName:null,Vt=ar?.map(le=>`${$n}[${N(le)}]`).join(", "),gr=[`volume=${ie}`,`source=[${Un}]`,`dest=${Qr!=null?`[${Qr}]`:Zr}`,`new_tip=${N(Ls(A))}`,...Rt?["return_tip=True",...qn!=null?[`trash_location=${qn}`]:[]]:[`trash_location=${Fn}`,"keep_last_tip=True"],...Ee.channels>1?["group_wells=False"]:[],..._r.filteredSortedTiprackIds.length>0?[Ss({labwareEntities:Ie,tiprackIds:_r.filteredSortedTiprackIds})]:[],`liquid_class=${Tr}`,...ar!=null&&$n!=null?[`tips=[${Vt}]`]:[]],Ir=()=>({commands:[],python:`${hr}.transfer_with_liquid_class(
+${Z(gr.join(`,
 `))},
-)`}),Bn=f.getByVolumeValue({liquidClass:z,pipetteSpecs:xe,tiprackDefUri:Ae,targetVolume:Te,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??o,Zr=f.getByVolumeValue({liquidClass:z,pipetteSpecs:xe,tiprackDefUri:Ae,targetVolume:Te,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??X,jn=f.getByVolumeValue({liquidClass:z,pipetteSpecs:xe,tiprackDefUri:Ae,targetVolume:ct,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??o,Jr=f.getByVolumeValue({liquidClass:z,pipetteSpecs:xe,tiprackDefUri:Ae,targetVolume:ct,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??X,rr=fv(qe,V);let _r=null,$n=null;const Ue=[...rr.reduce((Le,ht,yt)=>{const[Ve,Ge]=ht,xn=Lt.reduce((Re,it,nr)=>{const Tr=yt===0&&nr===0,Er=yt+1===rr.length,Hn=nr+1===Lt.length&&Er;let bt=!1;C==="always"?bt=!0:C==="once"?bt=Tr:C==="perSource"?bt=Ve!==_r:C==="perDest"&&(bt=Tr||Ge!==$n);const Gn=f.LOW_VOLUME_PIPETTES.includes(Rt)?[j(na,{pipetteId:K,volume:it})]:[];let ar=[];if(bt){const Tt=tr?.shift();ar=[ae(Ma,{pipette:K,primaryNozzle:de,nozzles:B,dropTipLocation:Ot&&ut!=null?ut:D,tipRack:Ae,...B!=null?{nozzles:B}:{},...Ce===wt&&Tt!=null&&Ee!=null?{tipSelectionArgs:{tipRackId:Ee,tipWell:Tt}}:{}})]}const wr=Se[ce]?.def.wells[Ve]?.depth??null,jt=f.getMmFromBottom(S,i,wr),$t=f.getMmFromBottom(m,b,wr),Qr=f.getMmFromBottom(d,l,wr);jt!=null&&$t!=null&&jt>$t&&Fe.push(mb());const Ir=Nr({retractZOffset:d,retractPositionReference:l,labwareId:ce,labwareEntities:Se,well:Ve}),or=!Ir&&Ve!=null?[j(ye,{pipetteId:K,labwareId:ce,wellName:Ve,wellLocation:f.SAFE_MOVE_TO_WELL_LOCATION})]:[],en=Nr({retractZOffset:x,retractPositionReference:ge,labwareId:N,labwareEntities:Se,well:Ge}),He=!en&&Ge!=null?[j(ye,{pipetteId:K,labwareId:N,wellName:Ge,wellLocation:f.SAFE_MOVE_TO_WELL_LOCATION})]:[];jt!=null&&Qr!=null&&jt>Qr&&Fe.push(hb());const xt=[j(ye,{pipetteId:K,labwareId:ce,wellName:Ve,wellLocation:f.SAFE_MOVE_TO_WELL_LOCATION})],Sr=[j(qt,{pipetteId:K})],gt=f.getByVolumeValue({liquidClass:z,pipetteSpecs:xe,tiprackDefUri:Ae,targetVolume:ct,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Vt=G!=null?[j(Me,{seconds:G.seconds})]:[],zn=ct>0&&!bt&&(nr>0||yt>0)?[j(st,{isAirGap:!0,pipetteId:K,volume:ct,flowRate:Jr,...gt>0?{correctionVolume:gt}:{},pushOut:0}),...Vt]:[],tn=[...xt,...zn,...Gn,...Sr],rn=[j(ye,{pipetteId:K,labwareId:ce,wellName:Ve,wellLocation:zr}),j(ye,{pipetteId:K,labwareId:ce,...h!=null?{speed:h}:{},wellName:Ve,wellLocation:{origin:f.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[i],offset:{x:_,y:I,z:S}}}),...y!=null&&y.seconds>0?[j(Me,{seconds:y.seconds})]:[]],Wn=ue?Pr({pipette:K,volume:it,times:1,aspirateFlowRateUlSec:o,dispenseFlowRateUlSec:X,aspirateDelaySeconds:a?.seconds??0,dispenseDelaySeconds:G?.seconds??0,finalPushOut:0,invariantContext:t,liquidClass:z,tiprack:Ae,generatePython:!1}):[],nn=H!=null?Pr({pipette:K,volume:H.volume,times:H.times,aspirateFlowRateUlSec:o,dispenseFlowRateUlSec:X,aspirateDelaySeconds:a?.seconds,dispenseDelaySeconds:G?.seconds,finalPushOut:0,invariantContext:t,liquidClass:z,tiprack:Ae,generatePython:!1}):[],Ar=a!=null?[j(Me,{seconds:a.seconds})]:[],Yn=F?[j(Ct,{pipetteId:K,labwareId:ce,wellName:Ve,...Y!=null?{mmFromEdge:Y}:{},zOffsetFromTop:Q,...Z!=null?{speed:Z}:{}}),...Te>0&&Ir?[j(ye,{pipetteId:K,labwareId:ce,wellName:Ve,wellLocation:Jt})]:[]]:[],ze=f.getByVolumeValue({liquidClass:z,pipetteSpecs:xe,tiprackDefUri:Ae,targetVolume:Te,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Or=Te>0?[...or,j(Yt,{pipetteId:K,volume:Te,flowRate:Bn,...ze>0?{correctionVolume:ze}:{}}),...Ar]:[],an=[j(mo,{pipetteId:K,volume:it,flowRate:o,...Yr>0?{correctionVolume:Yr}:{}}),...Ar],ir=[j(ye,{pipetteId:K,labwareId:ce,...u!=null?{speed:u}:{},wellName:Ve,wellLocation:Jt}),...s!=null&&s?.seconds>0?[j(Me,{seconds:s.seconds})]:[]],vr=f.getByVolumeValue({liquidClass:z,pipetteSpecs:xe,tiprackDefUri:Ae,targetVolume:Te,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Ht=Ge!=null?[j(ye,{pipetteId:K,labwareId:N,wellName:Ge,wellLocation:pr}),...Te>0?[j(st,{isAirGap:!0,pipetteId:K,volume:Te,flowRate:Zr,pushOut:0,...vr>0?{correctionVolume:vr}:{}}),...Vt]:[],j(ye,{pipetteId:K,labwareId:N,...R!=null?{speed:R}:{},wellName:Ge,wellLocation:{origin:f.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[fe],offset:{x:M,y:q,z:P}}}),...W!=null&&W.seconds>0?[j(Me,{seconds:W.seconds})]:[]]:[j(Xe,{fixtureId:N,pipetteId:K,offset:{x:0,y:0,z:0}})],sr=oe!=null&&Ge!=null?0:J,Kn=[j(st,{pipetteId:K,volume:it,flowRate:X,...sr!=null?{pushOut:sr}:{},...mr>0?{correctionVolume:mr}:{}}),...Vt],$a=oe!=null&&Ge!=null?Pr({pipette:K,volume:oe.volume,times:oe.times,aspirateFlowRateUlSec:o,dispenseFlowRateUlSec:X,aspirateDelaySeconds:a?.seconds,dispenseDelaySeconds:G?.seconds,finalPushOut:J,invariantContext:t,liquidClass:z,tiprack:Ae,generatePython:!1}):[],Co=Ge!=null?[j(ye,{pipetteId:K,labwareId:N,...le!=null?{speed:le}:{},wellName:Ge,wellLocation:Qt}),...be!=null&&be?.seconds>0?[j(Me,{seconds:be.seconds})]:[]]:[],xa=j(Ea,{pipetteId:K,flowRate:O}),Xn=f.getByVolumeValue({liquidClass:z,pipetteSpecs:xe,tiprackDefUri:Ae,targetVolume:ct,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,_t=(Tt,Lr=!0)=>ct>0&&!(C==="never"&&Hn&&Tt)?[...Lr?He:[],j(qt,{pipetteId:K}),j(Yt,{pipetteId:K,volume:ct,flowRate:jn,...Xn>0?{correctionVolume:Xn}:{}}),...Ar]:[],on=Tt=>Ge!=null&&ie?[j(Ct,{pipetteId:K,labwareId:N,wellName:Ge,...te!=null?{mmFromEdge:te}:{},zOffsetFromTop:se,...pe!=null?{speed:pe}:{}}),..._t(Tt).length>0&&en?[j(ye,{pipetteId:K,labwareId:N,wellName:Ge,wellLocation:Qt})]:[]]:[];let Pt=[];switch(v){case null:case void 0:Pt=[...on(!0),..._t(!0)];break;case In:Pt=[xa,...on(!0),..._t(!0)];break;case $r:Pt=[...on(!0),..._t(!1),j(ye,{pipetteId:K,labwareId:ce,wellName:Ve,wellLocation:{origin:f.WELL_ORIGIN_TOP}}),xa,...ie&&!nt?[j(Ct,{pipetteId:K,labwareId:ce,wellName:Ve,...te!=null?{mmFromEdge:te}:{},zOffsetFromTop:se,...pe!=null?{speed:pe}:{}})]:[],..._t(!0).length>0?[j(ye,{pipetteId:K,labwareId:ce,wellName:Ve,wellLocation:{origin:f.WELL_ORIGIN_TOP}})]:[],..._t(!0,!1)];break;default:v in Be?Pt=[...on(!1),..._t(!1),j(C_,{pipetteId:K,flowRate:O,trashId:v}),..._t(!0,!1)]:v in _e&&(Pt=[j(D_,{pipetteId:K,flowRate:O,wasteChuteId:v}),..._t(!0,!1)]);break}const Va=Ot&&(yt===rr.length-1||C==="always")?[j(wn,{pipette:K,dropTipLocation:Ae,isReturnTip:Ot})]:[],kt=[...ar,...tn,...rn,...nn,...Wn,...an,...ir,...Yn,...Or,...Ht,...Kn,...$a,...Co,...Pt,...Va];return _r=Ve,$n=Ge,[...Re,...kt]},[]);return[...Le,...xn]},[]),gr];return Ne(Ue,t,r)},mv=(e,t,r)=>{const n=`[${e.task_ids.join(", ")}]`,a=`${$e}.wait_for_tasks(${n})`;return{commands:[{key:ne(),commandType:"waitForTasks",params:e}],python:a}},hv=(e,t,r)=>{const{waitCondition:n}=e;return yv(e,t,r)},yv=(e,t,r)=>{const{moduleId:n}=e,a=[],o=No(r,n);if(o==null)return{errors:[ke()]};if(o.currentBlockActivity.type!=="profile")return{errors:[Kp()]};const{taskId:i}=o.currentBlockActivity;return i==null?{errors:[Kp()]}:(a.push(ae(mv,{task_ids:[i]})),Ne(a,t,r))};var Cc,lb;function bv(){if(lb)return Cc;lb=1;var e=Hg(),t=1,r=4;function n(a){return e(a,t|r)}return Cc=n,Cc}var gv=bv();const _v=Ye(gv),j_=["A1","B1","C1","D1","E1","F1","G1","H1","A2","B2","C2","D2","E2","F2","G2","H2","A3","B3","C3","D3","E3","F3","G3","H3","A4","B4","C4","D4","E4","F4","G4","H4","A5","B5","C5","D5","E5","F5","G5","H5","A6","B6","C6","D6","E6","F6","G6","H6","A7","B7","C7","D7","E7","F7","G7","H7","A8","B8","C8","D8","E8","F8","G8","H8","A9","B9","C9","D9","E9","F9","G9","H9","A10","B10","C10","D10","E10","F10","G10","H10","A11","B11","C11","D11","E11","F11","G11","H11","A12","B12","C12","D12","E12","F12","G12","H12"],Fr="p300SingleId",ua="p300MultiId",Wc="p100096Id",Yc="sourcePlateId",Kc="destPlateId",Xc="troughId",Tv="A1",Ev="tiprack1Id",wv={isAirGap:!0},Wa=f.fixture96Plate,ub=f.fixture12Trough,Ya=f.fixtureTiprack10ul,Nt=f.fixtureTiprack300ul,sn=f.fixtureTiprack1000ul,Ka=f.fixtureTiprackAdapter,$_={OT_PD_DISABLE_MODULE_RESTRICTIONS:!1};function x_(e){return j_.reduce((t,r)=>({...t,[r]:e?ro:Pe}),{})}function Iv(e,t){return Array.from("ABCDEFGH").map(r=>`${r}${e}`).reduce((r,n)=>({...r,[n]:t}),{})}function V_(){const e={[Yc]:{id:Yc,pythonName:"mock_source_plate",labwareDefURI:f.getLabwareDefURI(Wa),def:Wa},[Kc]:{id:Kc,pythonName:"mock_dest_plate",labwareDefURI:f.getLabwareDefURI(Wa),def:Wa},[Xc]:{id:Xc,pythonName:"mock_trough",labwareDefURI:f.getLabwareDefURI(ub),def:ub},tiprack1Id:{id:"tiprack1Id",pythonName:"mock_tip_rack_1",labwareDefURI:f.getLabwareDefURI(Nt),def:Nt},tiprack2Id:{id:"tiprack2Id",pythonName:"mock_tip_rack_2",labwareDefURI:f.getLabwareDefURI(Nt),def:Nt},tiprack3Id:{id:"tiprack3Id",pythonName:"mock_tip_rack_3",labwareDefURI:f.getLabwareDefURI(Nt),def:Nt},tiprack4AdapterId:{id:"tiprack4AdapterId",pythonName:"mock_adapter_4",labwareDefURI:f.getLabwareDefURI(Ka),def:Ka},tiprack5AdapterId:{id:"tiprack5AdapterId",pythonName:"mock_adapter_5",labwareDefURI:f.getLabwareDefURI(Ka),def:Ka},tiprack4Id:{id:"tiprack4Id",pythonName:"mock_tip_rack_4",labwareDefURI:f.getLabwareDefURI(sn),def:sn},tiprack5Id:{id:"tiprack5Id",pythonName:"mock_tip_rack_5",labwareDefURI:f.getLabwareDefURI(sn),def:sn}},t={},r={[qc]:{id:qc,location:"cutoutA3",pythonName:"trash_bin_1"}},n={p10SingleId:{name:"p10_single",id:"p10SingleId",pythonName:"mock_pipette_p10",tiprackDefURI:[f.getLabwareDefURI(Ya)],tiprackLabwareDef:[Ya],spec:f.fixtureP10SingleV2Specs},p10MultiId:{name:"p10_multi",id:"p10MultiId",tiprackDefURI:[f.getLabwareDefURI(Ya)],tiprackLabwareDef:[Ya],spec:f.fixtureP10MultiV2Specs,pythonName:"mock_pipette_p10_multi"},[Fr]:{name:"p300_single",id:Fr,tiprackDefURI:[f.getLabwareDefURI(Nt)],tiprackLabwareDef:[Nt],spec:f.fixtureP300SingleV2Specs,pythonName:"mock_pipette"},[ua]:{name:"p300_multi",id:ua,tiprackDefURI:[f.getLabwareDefURI(Nt)],tiprackLabwareDef:[Nt],spec:f.fixtureP300MultiV2Specs,pythonName:"mock_pipette_p300_multi"},[Wc]:{name:"p1000_96",id:Wc,tiprackDefURI:[f.getLabwareDefURI(sn)],tiprackLabwareDef:[sn],spec:f.fixtureP100096V2Specs,pythonName:"mock_pipette_p1000_96"}};return{labwareEntities:e,moduleEntities:t,pipetteEntities:n,trashBinEntities:r,wasteChuteEntities:{},stagingAreaEntities:{},gripperEntities:{},liquidEntities:{},config:$_}}const Vr=e=>{const{invariantContext:t,labwareLocations:r,moduleLocations:n,pipetteLocations:a,tiprackSetting:o}=e,i=Ap({invariantContext:t,labwareLocations:r,moduleLocations:n||{},pipetteLocations:a});return i.tipState.tipracks=Wt(o,s=>x_(s)),i},Cn=()=>({pipetteLocations:{[Fr]:{mount:"left",tiprackId:"tiprack1Id"},[ua]:{mount:"right",tiprackId:"tiprack1Id"}},labwareLocations:{tiprack1Id:{stack:["tiprack1Id","1"]},tiprack2Id:{stack:["tiprack2Id","5"]},tiprack4AdapterId:{stack:["tiprack4AdapterId","7"]},tiprack5AdapterId:{stack:["tiprack5AdapterId","8"]},tiprack4Id:{stack:["tiprack4Id","tiprack4AdapterId","7"]},tiprack5Id:{stack:["tiprack5Id","tiprack5AdapterId","8"]},sourcePlateId:{stack:["sourcePlateId","2"]},destPlateId:{stack:["destPlateId","3"]}},moduleLocations:{}}),H_=()=>({pipetteLocations:{[Fr]:{mount:"left"},[ua]:{mount:"right"}},labwareLocations:{tiprack1Id:{stack:["tiprack1Id","B1"]},tiprack2Id:{stack:["tiprack2Id","A2"]},sourcePlateId:{stack:["sourcePlateId","offDeck"]},destPlateId:{stack:["destPlateId","C2"]}},moduleLocations:{}}),G_=e=>Vr({...Cn(),invariantContext:e,tiprackSetting:{tiprack1Id:!0,tiprack2Id:!0}}),Sv=e=>Vr({...H_(),invariantContext:e,tiprackSetting:{tiprack1Id:!0,tiprack2Id:!0}}),Av=e=>({robotState:G_(e),warnings:[]}),Ov=e=>{const t=Vr({...Cn(),invariantContext:e,tiprackSetting:{tiprack1Id:!0,tiprack2Id:!0}});return t.tipState.pipettes[Fr]={hasTip:!0,tiprackURI:"tiprack1Id"},t},vv=e=>{const t=Vr({...Cn(),invariantContext:e,tiprackSetting:{tiprack1Id:!0}});return t.tipState.pipettes[Fr]={hasTip:!0,tiprackURI:"tiprack1Id"},t.tipState.tipracks.tiprack1Id.A1=Pe,t},Lv=e=>Vr({...Cn(),invariantContext:e,tiprackSetting:{tiprack1Id:!1,tiprack2Id:!1}}),Rv=({temperatureModuleId:e,thermocyclerId:t})=>{const r=V_();r.moduleEntities={[e]:{id:e,type:f.TEMPERATURE_MODULE_TYPE,model:"foo",pythonName:"mock_temperature_module_1"},[t]:{id:t,type:f.THERMOCYCLER_MODULE_TYPE,model:"foo",pythonName:"mock_thermocycler"}};const n=Vr({...Cn(),invariantContext:r,tiprackSetting:{tiprack1Id:!0}});return n.modules={[e]:{slot:"3",moduleState:{type:f.TEMPERATURE_MODULE_TYPE,status:ba,targetTemperature:null}},[t]:{slot:"span7_8_10_11",moduleState:{type:f.THERMOCYCLER_MODULE_TYPE,currentBlockActivity:{type:"blockDeactivated"},lidTargetTemp:null,lidOpen:null,numProfilesStarted:0}}},{invariantContext:r,robotState:n}},Pv=(e,t,r,n)=>{const a=_v(e);return a.modules[t].moduleState={type:f.TEMPERATURE_MODULE_TYPE,targetTemperature:n,status:r},a};exports.ABSORBANCE_READER_INITIAL_STATE=Ib;exports.AIR=Qe;exports.AIR_GAP_META=wv;exports.AIR_GAP_OFFSET_FROM_TOP=Dc;exports.AUTOMATIC=Qc;exports.BOTTOM_UP_LABWARE_POOL_KEYS=Gt;exports.BOTTOM_UP_STORED_LABWARE_URI_KEYS=PT;exports.CLEAN=ro;exports.COLUMN_4_SLOTS=We;exports.CUSTOM_LABWARE_DICT_NAME=Oo;exports.DEFAULT_BLOWOUT_WELL=Tv;exports.DEFAULT_CONFIG=$_;exports.DEFAULT_PIPETTE=Fr;exports.DEST_LABWARE=Kc;exports.DEST_WELL_BLOWOUT_DESTINATION=In;exports.DIRTY=lr;exports.EMPTY=Pe;exports.FAKE_HOPPER_LOCATION_MAP=Nb;exports.FIXED_TRASH_ID=qc;exports.FLEX_STACKER_MODULE_INITIAL_STATE=Ab;exports.FLEX_TRASH_DEF_URI=RT;exports.GRIPPER_LOCATION=Lb;exports.HEATERSHAKER_MODULE_INITIAL_STATE=wb;exports.HOPPER_FAKE_LOCATIONS=kb;exports.HOPPER_STACKER_LOCATION=Je;exports.INDENT=Na;exports.MAGNETIC_BLOCK_INITIAL_STATE=Sb;exports.MAGNETIC_MODULE_INITIAL_STATE=_b;exports.MANUAL=wt;exports.MIXED_WELL_COLOR=p_;exports.MODULES_WITH_COLLISION_ISSUES=gb;exports.MODULE_INITIAL_STATE_BY_TYPE=vb;exports.MULTI_PIPETTE=ua;exports.OFF_DECK=sa;exports.OT2_TC_SLOTS=Pb;exports.OT_2_TRASH_DEF_URI=LT;exports.PAPI_VERSION=d_;exports.PD_APPLICATION_VERSION=pO;exports.PIPETTE_96=Wc;exports.PROTOCOL_CONTEXT_NAME=$e;exports.SLOT_LOCATIONS_TO_FAKE_HOPPER_LOCATIONS=kT;exports.SOURCE_LABWARE=Yc;exports.SOURCE_WELL_BLOWOUT_DESTINATION=$r;exports.STAGING_AREA_SLOTS=Rb;exports.TEMPERATURE_APPROACHING_TARGET=Jc;exports.TEMPERATURE_AT_TARGET=Zc;exports.TEMPERATURE_DEACTIVATED=ba;exports.TEMPERATURE_MODULE_INITIAL_STATE=Tb;exports.THERMOCYCLER_MODULE_INITIAL_STATE=Eb;exports.TIPRACK_1=Ev;exports.TOUCHED_PIPETTABLE_LABWARE=Gc;exports.TROUGH_LABWARE=Xc;exports.VACUUM_MAX_PRESSURE_MBAR=VT;exports.VACUUM_MIN_PRESSURE_MBAR=xT;exports.VACUUM_MODE_POWER=DT;exports.VACUUM_MODE_PRESSURE=qT;exports.VACUUM_MODULE_INITIAL_STATE=Ob;exports.VACUUM_PROGRAM_PROFILE=MT;exports.VACUUM_PROGRAM_STATE=FT;exports.VACUUM_STATE_PUMP=UT;exports.VACUUM_STATE_VENT=BT;exports.VACUUM_VENT_CLOSED=CT;exports.VACUUM_VENT_OPEN=NT;exports.VACUUM_VENT_SET_CLOSED=$T;exports.VACUUM_VENT_SET_OPEN=jT;exports.ZERO_OFFSET=Et;exports._getNextTip=N_;exports._wellContentsForLabware=tO;exports.absorbanceReaderCloseInitialize=kO;exports.absorbanceReaderCloseLid=hp;exports.absorbanceReaderCloseRead=NO;exports.absorbanceReaderCollision=Sa;exports.absorbanceReaderInitialize=rg;exports.absorbanceReaderOpenLid=yw;exports.absorbanceReaderRead=ng;exports.absorbanceReaderStateGetter=Nn;exports.airGapLocationHelper=dI;exports.aspirate=bw;exports.assignContainsAmongSiblings=Hp;exports.blowOutInWell=ag;exports.captureImage=gw;exports.column4StagingSlotIdFromFlexStackerShuttleAddressableArea=Pg;exports.commandCreatorsTimeline=NA;exports.comment=_w;exports.consolidate=$O;exports.constructInvariantContextFromAnalysis=UA;exports.createEmptyLiquidState=Sg;exports.createStagingAreaForInvariantContext=Uc;exports.createTipLiquidState=Ag;exports.curryCommandCreator=ae;exports.curryWithoutPython=j;exports.deactivateTemperature=Ew;exports.deckSlotKeyForFlexStackerShuttleAddressableArea=hI;exports.delay=Me;exports.delayLocationHelper=mI;exports.disengageMagnet=Jw;exports.dispense=hg;exports.dispenseLocationHelper=pI;exports.distribute=HO;exports.dropTip=wn;exports.dropTipInPlace=wp;exports.dropTipInTrash=F_;exports.dropTipInWasteChute=M_;exports.engageMagnet=Qw;exports.enrichRobotStateForStackGraphTraversals=KS;exports.flexStackerEmpty=eI;exports.flexStackerFillItems=tI;exports.flexStackerRetrieve=rI;exports.flexStackerStateGetter=mt;exports.flexStackerStore=nI;exports.formatChangeTipArg=Po;exports.formatPyDict=Ca;exports.formatPyList=Wp;exports.formatPyStr=ee;exports.formatPyTuple=u_;exports.formatPyValue=la;exports.formatPyWellLocation=kn;exports.getAddressableAreaFromModule=Vp;exports.getAddressableAreaNameFromLabwareLocation=VS;exports.getAllLargestStacks=Xg;exports.getAllProvidedAddressableAreasFromDeckConfig=Zg;exports.getAllWellsForLabware=c_;exports.getChunkForIndentingLists=vo;exports.getCustomLiquidClassProperties=Lo;exports.getCutoutIdByAddressableArea=_g;exports.getCutoutIdFromSlot=O_;exports.getDefaultPrimaryNozzle=qr;exports.getDefineLiquids=__;exports.getDispenseAirGapLocation=Og;exports.getFlexStackerCutoutBaseDeckSlotId=vp;exports.getFlexStackerShuttleAddressableArea=To;exports.getFullStackFromLabwares=Lp;exports.getFullStackFromNodeTopDownRecursive=Ao;exports.getHasNoWellsFromCCArgs=DA;exports.getInitialRobotStateStandard=G_;exports.getInitialRobotStateWithOffDeckLabwareStandard=Sv;exports.getIsHeaterShakerEastWestMultiChannelPipette=Rn;exports.getIsHeaterShakerEastWestWithLatchOpen=Ln;exports.getIsHeaterShakerNorthSouthOfNonTiprackWithMultiChannelPipette=Ra;exports.getIsLabwareCompatibleWithStack=Ng;exports.getIsRetractSafeForAirGap=Nr;exports.getIsSafePickupWithinTiprack=L_;exports.getIsSafePipetteMovement=It;exports.getIsSlotAHopper=Cg;exports.getIsSpaceInHopper=Np;exports.getIsTallLabwareEastWestOfHeaterShaker=l_;exports.getLabwareHasLiquid=Lg;exports.getLabwareIdOnHopper=gI;exports.getLabwareIdOnShuttle=Pp;exports.getLabwareSlot=On;exports.getLargestStackContainingLabware=Kg;exports.getLargestStackInSlot=_o;exports.getLiquidClassName=Da;exports.getLiquidIdsOnLabware=aO;exports.getLiquidIdsOnLabwareStack=nO;exports.getLoadAdapters=h_;exports.getLoadLabware=b_;exports.getLoadLidStacks=y_;exports.getLoadLiquidClasses=E_;exports.getLoadLiquids=T_;exports.getLoadModules=m_;exports.getLoadPipettes=g_;exports.getLoadTrashBins=w_;exports.getLoadWasteChute=I_;exports.getLocationTotalVolume=ur;exports.getModuleIdFromRobotStateStack=Ia;exports.getModuleState=St;exports.getNearestParentInStack=Rg;exports.getNextRobotStateAndWarnings=Gp;exports.getNextRobotStateAndWarningsSingleCommand=s_;exports.getNextTiprack=Fa;exports.getNodeParentModuleId=$S;exports.getNozzleConfig=zp;exports.getPipetteIdFromCCArgs=CA;exports.getPipetteWithTipMaxVol=ko;exports.getProvidedAddressableAreasExposed=HS;exports.getPythonAssignTipRacksString=Ro;exports.getResultingTimelineFrameFromRunCommands=jA;exports.getRobotInitialStateNoTipsRemain=Lv;exports.getRobotStateAndWarningsStandard=Av;exports.getRobotStatePickedUpTipStandard=vv;exports.getRobotStateWithTipStandard=Ov;exports.getSetStoredLabware=A_;exports.getSlotInLocationStack=we;exports.getStackForLabwareLocation=Mc;exports.getStackedOnNodeFromPdStack=Jg;exports.getStateAndContextTempTCModules=Rv;exports.getTargetTipsFromWellSets=qa;exports.getThermocyclerProfileRepetitionsForPython=P_;exports.getTipColumn=Iv;exports.getTipColumnIndex=zc;exports.getTipColumnName=R_;exports.getTipRowName=ra;exports.getTiprackHasTips=vg;exports.getTiprackTipstate=x_;exports.getTopLocationInStack=Op;exports.getTopmostLabwareOnModuleFromStackRobotState=yI;exports.getTransferPlanAndReferenceVolumes=Rp;exports.getTrashBinAddressableAreaName=Ip;exports.getTrashLocationFromAddressableAreaName=Eg;exports.getTrashOrLabware=Sn;exports.getVolumesPerLiquid=rO;exports.getWasteChuteAddressableAreaNamePip=Tg;exports.getWellsForTips=Sp;exports.heaterShaker=KO;exports.indentPyLines=ve;exports.labwareMatchesLabwareInHopper=kp;exports.makeContext=V_;exports.makeInitialRobotState=Ap;exports.makeState=Vr;exports.makeStateArgsLabwareOffDeck=H_;exports.makeStateArgsStandard=Cn;exports.mergeLiquid=cr;exports.mix=jO;exports.mixBlowoutLocationHelper=Ig;exports.modulePipetteCollision=vn;exports.moveHelper=fI;exports.moveLabware=uI;exports.moveToAddressableArea=Xe;exports.moveToAddressableAreaForDropTip=yg;exports.pipetteAdjacentHeaterShakerWhileShaking=Pn;exports.pipetteIntoHeaterShakerLatchOpen=Pa;exports.pipetteIntoHeaterShakerWhileShaking=ka;exports.pythonCustomLabwareDict=_O;exports.pythonDefRun=gO;exports.pythonImports=fO;exports.pythonMetadata=dO;exports.pythonRequirements=mO;exports.reduceCommandCreators=Ne;exports.repeatArray=wg;exports.replaceTip=Ma;exports.resolveDeckSlotKeyForLabwareStackInSlot=kg;exports.robotWithStatusAndTemp=Pv;exports.setTemperature=bg;exports.sortLabwareBySlot=k_;exports.splitLiquid=zt;exports.stepCommands=S_;exports.swatchColors=f_;exports.thermocyclerPipetteCollision=va;exports.thermocyclerProfileStep=XO;exports.thermocyclerStateGetter=No;exports.thermocyclerStateStep=iv;exports.tiprackWellNamesFlat=j_;exports.touchTip=Ct;exports.transfer=dv;exports.unrollThermocyclerProfile=Yp;exports.uuid=ne;exports.vacuumModuleStateGetter=PO;exports.waitForModuleTask=hv;exports.waitForTemperature=gg;exports.wellFillFromWellContents=iO;
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e={[Wu]:{id:Wu,pythonName:"mock_source_plate",labwareDefURI:c.getLabwareDefURI(Wa),def:Wa},[Yu]:{id:Yu,pythonName:"mock_dest_plate",labwareDefURI:c.getLabwareDefURI(Wa),def:Wa},[Ku]:{id:Ku,pythonName:"mock_trough",labwareDefURI:c.getLabwareDefURI(nh),def:nh},tiprack1Id:{id:"tiprack1Id",pythonName:"mock_tip_rack_1",labwareDefURI:c.getLabwareDefURI(Dt),def:Dt},tiprack2Id:{id:"tiprack2Id",pythonName:"mock_tip_rack_2",labwareDefURI:c.getLabwareDefURI(Dt),def:Dt},tiprack3Id:{id:"tiprack3Id",pythonName:"mock_tip_rack_3",labwareDefURI:c.getLabwareDefURI(Dt),def:Dt},tiprack4AdapterId:{id:"tiprack4AdapterId",pythonName:"mock_adapter_4",labwareDefURI:c.getLabwareDefURI(Ka),def:Ka},tiprack5AdapterId:{id:"tiprack5AdapterId",pythonName:"mock_adapter_5",labwareDefURI:c.getLabwareDefURI(Ka),def:Ka},tiprack4Id:{id:"tiprack4Id",pythonName:"mock_tip_rack_4",labwareDefURI:c.getLabwareDefURI(un),def:un},tiprack5Id:{id:"tiprack5Id",pythonName:"mock_tip_rack_5",labwareDefURI:c.getLabwareDefURI(un),def:un}},t={},r={[Cu]:{id:Cu,location:"cutoutA3",pythonName:"trash_bin_1"}},n={p10SingleId:{name:"p10_single",id:"p10SingleId",pythonName:"mock_pipette_p10",tiprackDefURI:[c.getLabwareDefURI(Ya)],tiprackLabwareDef:[Ya],spec:c.fixtureP10SingleV2Specs},p10MultiId:{name:"p10_multi",id:"p10MultiId",tiprackDefURI:[c.getLabwareDefURI(Ya)],tiprackLabwareDef:[Ya],spec:c.fixtureP10MultiV2Specs,pythonName:"mock_pipette_p10_multi"},[Br]:{name:"p300_single",id:Br,tiprackDefURI:[c.getLabwareDefURI(Dt)],tiprackLabwareDef:[Dt],spec:c.fixtureP300SingleV2Specs,pythonName:"mock_pipette"},[ca]:{name:"p300_multi",id:ca,tiprackDefURI:[c.getLabwareDefURI(Dt)],tiprackLabwareDef:[Dt],spec:c.fixtureP300MultiV2Specs,pythonName:"mock_pipette_p300_multi"},[Gu]:{name:"p1000_96",id:Gu,tiprackDefURI:[c.getLabwareDefURI(un)],tiprackLabwareDef:[un],spec:c.fixtureP100096V2Specs,pythonName:"mock_pipette_p1000_96"}};return{labwareEntities:e,moduleEntities:t,pipetteEntities:n,trashBinEntities:r,wasteChuteEntities:{},stagingAreaEntities:{},gripperEntities:{},liquidEntities:{},config:Oy}}const zr=e=>{const{invariantContext:t,labwareLocations:r,moduleLocations:n,pipetteLocations:a,tiprackSetting:s}=e,o=Tc({invariantContext:t,labwareLocations:r,moduleLocations:n||{},pipetteLocations:a});return o.tipState.tipracks=Xt(s,i=>Ry(i)),o},Mn=()=>({pipetteLocations:{[Br]:{mount:"left",tiprackId:"tiprack1Id"},[ca]:{mount:"right",tiprackId:"tiprack1Id"}},labwareLocations:{tiprack1Id:{stack:["tiprack1Id","1"]},tiprack2Id:{stack:["tiprack2Id","5"]},tiprack4AdapterId:{stack:["tiprack4AdapterId","7"]},tiprack5AdapterId:{stack:["tiprack5AdapterId","8"]},tiprack4Id:{stack:["tiprack4Id","tiprack4AdapterId","7"]},tiprack5Id:{stack:["tiprack5Id","tiprack5AdapterId","8"]},sourcePlateId:{stack:["sourcePlateId","2"]},destPlateId:{stack:["destPlateId","3"]}},moduleLocations:{}}),vy=()=>({pipetteLocations:{[Br]:{mount:"left"},[ca]:{mount:"right"}},labwareLocations:{tiprack1Id:{stack:["tiprack1Id","B1"]},tiprack2Id:{stack:["tiprack2Id","A2"]},sourcePlateId:{stack:["sourcePlateId","offDeck"]},destPlateId:{stack:["destPlateId","C2"]}},moduleLocations:{}}),Py=e=>zr({...Mn(),invariantContext:e,tiprackSetting:{tiprack1Id:!0,tiprack2Id:!0}}),tS=e=>zr({...vy(),invariantContext:e,tiprackSetting:{tiprack1Id:!0,tiprack2Id:!0}}),rS=e=>({robotState:Py(e),warnings:[]}),nS=e=>{const t=zr({...Mn(),invariantContext:e,tiprackSetting:{tiprack1Id:!0,tiprack2Id:!0}});return t.tipState.pipettes[Br]={hasTip:!0,tiprackURI:"tiprack1Id"},t},aS=e=>{const t=zr({...Mn(),invariantContext:e,tiprackSetting:{tiprack1Id:!0}});return t.tipState.pipettes[Br]={hasTip:!0,tiprackURI:"tiprack1Id"},t.tipState.tipracks.tiprack1Id.A1=se,t},sS=e=>zr({...Mn(),invariantContext:e,tiprackSetting:{tiprack1Id:!1,tiprack2Id:!1}}),oS=({temperatureModuleId:e,thermocyclerId:t})=>{const r=ky();r.moduleEntities={[e]:{id:e,type:c.TEMPERATURE_MODULE_TYPE,model:"foo",pythonName:"mock_temperature_module_1"},[t]:{id:t,type:c.THERMOCYCLER_MODULE_TYPE,model:"foo",pythonName:"mock_thermocycler"}};const n=zr({...Mn(),invariantContext:r,tiprackSetting:{tiprack1Id:!0}});return n.modules={[e]:{slot:"3",moduleState:{type:c.TEMPERATURE_MODULE_TYPE,status:Ta,targetTemperature:null}},[t]:{slot:"span7_8_10_11",moduleState:{type:c.THERMOCYCLER_MODULE_TYPE,currentBlockActivity:{type:"blockDeactivated"},lidTargetTemp:null,lidOpen:null,numProfilesStarted:0}}},{invariantContext:r,robotState:n}},iS=(e,t,r,n)=>{const a=XA(e);return a.modules[t].moduleState={type:c.TEMPERATURE_MODULE_TYPE,targetTemperature:n,status:r},a};exports.ABSORBANCE_READER_INITIAL_STATE=yh;exports.AIR=je;exports.AIR_GAP_META=JA;exports.AIR_GAP_OFFSET_FROM_TOP=Nu;exports.AUTOMATIC=Qu;exports.BOTTOM_UP_LABWARE_POOL_KEYS=Yt;exports.BOTTOM_UP_STORED_LABWARE_URI_KEYS=Tb;exports.CLEAN=ga;exports.COLUMN_4_SLOTS=De;exports.CUSTOM_LABWARE_DICT_NAME=hs;exports.DEFAULT_BLOWOUT_WELL=ZA;exports.DEFAULT_CONFIG=Oy;exports.DEFAULT_PIPETTE=Br;exports.DEST_LABWARE=Yu;exports.DEST_WELL_BLOWOUT_DESTINATION=Sn;exports.DIRTY=Wt;exports.EMPTY=se;exports.FAKE_HOPPER_LOCATION_MAP=Sh;exports.FIXED_TRASH_ID=Cu;exports.FLEX_STACKER_MODULE_INITIAL_STATE=Th;exports.FLEX_TRASH_DEF_URI=yb;exports.GRIPPER_LOCATION=Eh;exports.HEATERSHAKER_MODULE_INITIAL_STATE=_h;exports.HOPPER_FAKE_LOCATIONS=Ah;exports.HOPPER_STACKER_LOCATION=He;exports.INDENT=La;exports.MAGNETIC_BLOCK_INITIAL_STATE=bh;exports.MAGNETIC_MODULE_INITIAL_STATE=fh;exports.MANUAL=Et;exports.MIXED_WELL_COLOR=X_;exports.MODULES_WITH_COLLISION_ISSUES=dh;exports.MODULE_INITIAL_STATE_BY_TYPE=Ih;exports.MULTI_PIPETTE=ca;exports.OFF_DECK=oa;exports.OT2_TC_SLOTS=bb;exports.OT_2_TRASH_DEF_URI=_b;exports.PAPI_VERSION=Q_;exports.PD_APPLICATION_VERSION=xw;exports.PIPETTE_96=Gu;exports.PROTOCOL_CONTEXT_NAME=ge;exports.SLOT_LOCATIONS_TO_FAKE_HOPPER_LOCATIONS=gb;exports.SOURCE_LABWARE=Wu;exports.SOURCE_WELL_BLOWOUT_DESTINATION=Hr;exports.STAGING_AREA_SLOTS=wh;exports.TEMPERATURE_APPROACHING_TARGET=Zu;exports.TEMPERATURE_AT_TARGET=Xu;exports.TEMPERATURE_DEACTIVATED=Ta;exports.TEMPERATURE_MODULE_INITIAL_STATE=mh;exports.THERMOCYCLER_MODULE_INITIAL_STATE=hh;exports.TIPRACK_1=QA;exports.TOUCHED_PIPETTABLE_LABWARE=ju;exports.TROUGH_LABWARE=Ku;exports.VACUUM_AT_TARGET=Pb;exports.VACUUM_DEACTIVATED=vb;exports.VACUUM_MAX_PRESSURE_MBAR=kb;exports.VACUUM_MIN_PRESSURE_MBAR=Rb;exports.VACUUM_MODE_POWER=Du;exports.VACUUM_MODE_PRESSURE=Mu;exports.VACUUM_MODULE_INITIAL_STATE=gh;exports.VACUUM_PROGRAM_PROFILE=Eb;exports.VACUUM_PROGRAM_STATE=Ib;exports.VACUUM_STATE_PUMP_OFF=wb;exports.VACUUM_STATE_PUMP_ON=Ab;exports.VACUUM_STATE_VENT=Sb;exports.VACUUM_VENT_CLOSED=Ia;exports.VACUUM_VENT_OPEN=ns;exports.VACUUM_VENT_SET_CLOSED=Ob;exports.VACUUM_VENT_SET_OPEN=Lb;exports.ZERO_OFFSET=It;exports._getNextTip=yy;exports._wellContentsForLabware=Nw;exports.absorbanceReaderCloseInitialize=lA;exports.absorbanceReaderCloseLid=mc;exports.absorbanceReaderCloseRead=uA;exports.absorbanceReaderCollision=Ra;exports.absorbanceReaderInitialize=Kh;exports.absorbanceReaderOpenLid=ag;exports.absorbanceReaderRead=Xh;exports.absorbanceReaderStateGetter=Dn;exports.airGapLocationHelper=Mg;exports.aspirate=sg;exports.assignContainsAmongSiblings=Uc;exports.blowOutInWell=Zh;exports.captureImage=og;exports.column4StagingSlotIdFromFlexStackerShuttleAddressableArea=h_;exports.commandCreatorsTimeline=pw;exports.comment=ig;exports.consolidate=bA;exports.constructInvariantContextFromAnalysis=yw;exports.createEmptyLiquidState=u_;exports.createStagingAreaForInvariantContext=qu;exports.createTipLiquidState=c_;exports.curryCommandCreator=U;exports.curryWithoutPython=O;exports.deactivateTemperature=ug;exports.deckSlotKeyForFlexStackerShuttleAddressableArea=qg;exports.delay=he;exports.delayLocationHelper=Fg;exports.disengageMagnet=cg;exports.dispense=Qh;exports.dispenseLocationHelper=Cg;exports.distribute=IA;exports.dropTip=wn;exports.dropTipInPlace=hc;exports.dropTipInTrash=Iy;exports.dropTipInWasteChute=Ey;exports.engageMagnet=pg;exports.enrichRobotStateForStackGraphTraversals=bE;exports.flexStackerEmpty=dg;exports.flexStackerFillItems=fg;exports.flexStackerRetrieve=mg;exports.flexStackerStateGetter=dt;exports.flexStackerStore=hg;exports.formatChangeTipArg=Ls;exports.formatPyDict=Mr;exports.formatPyList=_c;exports.formatPyStr=N;exports.formatPyTuple=t_;exports.formatPyValue=pt;exports.formatPyWellLocation=An;exports.getAddressableAreaFromModule=qc;exports.getAddressableAreaNameFromLabwareLocation=dE;exports.getAllLargestStacks=M_;exports.getAllProvidedAddressableAreasFromDeckConfig=F_;exports.getAllWellsForLabware=K_;exports.getChunkForIndentingLists=_s;exports.getCustomLiquidClassProperties=As;exports.getCutoutFromSlot=py;exports.getCutoutIdByAddressableArea=a_;exports.getDefaultPrimaryNozzle=es;exports.getDefineLiquids=ay;exports.getDispenseAirGapLocation=p_;exports.getFlexStackerCutoutBaseDeckSlotId=Ic;exports.getFlexStackerShuttleAddressableArea=bs;exports.getFullStackFromLabwares=Ec;exports.getFullStackFromNodeTopDownRecursive=ws;exports.getHasNoWellsFromCCArgs=fw;exports.getInitialRobotStateStandard=Py;exports.getInitialRobotStateWithOffDeckLabwareStandard=tS;exports.getIsHeaterShakerEastWestMultiChannelPipette=Nn;exports.getIsHeaterShakerEastWestWithLatchOpen=Pn;exports.getIsHeaterShakerNorthSouthOfNonTiprackWithMultiChannelPipette=Ca;exports.getIsLabwareCompatibleWithStack=y_;exports.getIsRetractSafeForAirGap=Fr;exports.getIsSafePickupWithinTiprack=fy;exports.getIsSafePipetteMovement=wt;exports.getIsSlotAHopper=b_;exports.getIsSpaceInHopper=Lc;exports.getIsTallLabwareEastWestOfHeaterShaker=W_;exports.getLabwareHasLiquid=f_;exports.getLabwareIdOnHopper=$g;exports.getLabwareIdOnShuttle=Ac;exports.getLabwareSlot=Rn;exports.getLargestStackContainingLabware=D_;exports.getLargestStackInSlot=ys;exports.getLiquidClassName=Fa;exports.getLiquidIdsOnLabware=Mw;exports.getLiquidIdsOnLabwareStack=Dw;exports.getLoadAdapters=ey;exports.getLoadLabware=ry;exports.getLoadLidStacks=ty;exports.getLoadLiquidClasses=oy;exports.getLoadLiquids=sy;exports.getLoadModules=J_;exports.getLoadPipettes=ny;exports.getLoadTrashBins=iy;exports.getLoadWasteChute=ly;exports.getLocationTotalVolume=pr;exports.getModuleHasLiveTask=kn;exports.getModuleIdFromRobotStateStack=Oa;exports.getModuleState=At;exports.getNearestParentInStack=m_;exports.getNextRobotStateAndWarnings=Bc;exports.getNextRobotStateAndWarningsSingleCommand=G_;exports.getNextTiprack=Ua;exports.getNodeParentModuleId=cE;exports.getNozzleConfig=$c;exports.getPipetteIdFromCCArgs=dw;exports.getPipetteWithTipMaxVol=Os;exports.getProvidedAddressableAreasExposed=fE;exports.getPythonAssignTipRacksString=Ss;exports.getResultingTimelineFrameFromRunCommands=Tw;exports.getRobotInitialStateNoTipsRemain=sS;exports.getRobotStateAndWarningsStandard=rS;exports.getRobotStatePickedUpTipStandard=aS;exports.getRobotStateWithTipStandard=nS;exports.getSetStoredLabware=cy;exports.getSlotInLocationStack=z;exports.getStackForLabwareLocation=Fu;exports.getStackedOnNodeFromPdStack=q_;exports.getStateAndContextTempTCModules=oS;exports.getTargetTipsFromWellSets=qa;exports.getThermocyclerProfileRepetitionsForPython=hy;exports.getTipColumn=eS;exports.getTipColumnIndex=zu;exports.getTipColumnName=my;exports.getTipRowName=aa;exports.getTiprackHasTips=d_;exports.getTiprackTipstate=Ry;exports.getTopLocationInStack=gc;exports.getTopmostLabwareOnModuleFromStackRobotState=Ug;exports.getTransferPlanAndReferenceVolumes=wc;exports.getTrashBinAddressableAreaName=yc;exports.getTrashLocationFromAddressableAreaName=o_;exports.getTrashOrLabware=Ln;exports.getVolumesPerLiquid=Cw;exports.getWasteChuteAddressableAreaNamePip=s_;exports.getWellsForTips=bc;exports.heaterShaker=LA;exports.indentPyLines=Z;exports.labwareMatchesLabwareInHopper=Sc;exports.makeContext=ky;exports.makeInitialRobotState=Tc;exports.makeState=zr;exports.makeStateArgsLabwareOffDeck=vy;exports.makeStateArgsStandard=Mn;exports.mergeLiquid=dr;exports.mix=yA;exports.mixBlowoutLocationHelper=l_;exports.modulePipetteCollision=vn;exports.moveHelper=Dg;exports.moveLabware=Ig;exports.moveToAddressableArea=qe;exports.moveToAddressableAreaForDropTip=Jh;exports.pipetteAdjacentHeaterShakerWhileShaking=Cn;exports.pipetteIntoHeaterShakerLatchOpen=Da;exports.pipetteIntoHeaterShakerWhileShaking=Ma;exports.pythonCustomLabwareDict=Xw;exports.pythonDefRun=Kw;exports.pythonImports=Hw;exports.pythonMetadata=jw;exports.pythonRequirements=zw;exports.reduceCommandCreators=ce;exports.repeatArray=i_;exports.replaceTip=Ba;exports.resolveDeckSlotKeyForLabwareStackInSlot=__;exports.robotWithStatusAndTemp=iS;exports.setTemperature=e_;exports.sortLabwareBySlot=_y;exports.splitLiquid=Kt;exports.stepCommands=uy;exports.swatchColors=Z_;exports.thermocyclerPipetteCollision=Pa;exports.thermocyclerProfileStep=OA;exports.thermocyclerStateGetter=Rs;exports.thermocyclerStateStep=qA;exports.tiprackWellNamesFlat=Ly;exports.touchTip=Mt;exports.transfer=jA;exports.unrollThermocyclerProfile=Vc;exports.uuid=D;exports.vacuumCloseVent=wg;exports.vacuumModuleStateGetter=st;exports.vacuumOpenVent=Ag;exports.vacuumSetPumpPower=Lg;exports.vacuumSetPumpPressure=Og;exports.vacuumStartRunProfile=Pg;exports.vacuumStopPump=Ng;exports.waitForModuleTask=zA;exports.waitForTemperature=n_;exports.wellFillFromWellContents=qw;