@opentrons/step-generation 0.3.21-alpha.0 → 0.3.22-alpha.0

package/lib/index.cjs

@@ -1,155 +1,155 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const c=require("@opentrons/shared-data");function Db(){return{type:"INSUFFICIENT_TIPS",message:"Not enough tips to complete action"}}function Mb(){return{type:"MISSING_96_CHANNEL_TIPRACK_ADAPTER",message:"A 96-channel cannot pick up tips fully without an adapter"}}function Fb(){return{type:"REMOVE_96_CHANNEL_TIPRACK_ADAPTER",message:"A 96-channel cannot pick up tips partially with an adapter"}}function xt(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 Ub(){return{message:"One or more of the pipettes has a tip",type:"PIPETTE_HAS_TIP"}}function pt(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 dt(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 Q(){return{message:"This step requires a module, but none is selected",type:"MISSING_MODULE"}}function qb(){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 dp(){return{message:"This module is not currently running a profile.",type:"MISSING_PROFILE_STEP"}}function $b(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 os(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 Vb=()=>({type:"MOVE_LOCATION_NOT_SPECIFIED",message:"This step is missing a move location."}),Ta=()=>({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."}),Bb=()=>({type:"THERMOCYCLER_BUSY_WITH_PROFILE",message:"This step cannot run while the Thermocycler is running a profile. Move the step outside the profile."}),In=()=>({type:"THERMOCYCLER_LID_CLOSED",message:"Attempted to interact with contents of a thermocycler with the lid closed."}),ps=()=>({type:"HEATER_SHAKER_LATCH_OPEN",message:"Attempted to interact with contents of a heater-shaker with the latch open."}),fp=()=>({type:"HEATER_SHAKER_LATCH_CLOSED",message:"Attempted to move the contents of a heater-shaker with the latch closed."}),Mr=()=>({type:"ABSORBANCE_READER_LID_CLOSED",message:"Attempted to interact with contents of an absorbance plate reader with the lid closed."}),xb=()=>({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."}),Lh=()=>({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."}),Hb=()=>({type:"HOPPER_EMPTY",message:"Cannot retrieve labware from empty stacker"}),zb=()=>({type:"SHUTTLE_FULL",message:"Shuttle must be empty in order to retrieve labware from the stacker"}),jb=()=>({type:"SHUTTLE_EMPTY",message:"Shuttle must have labware in order to store it in the stacker"}),Oh=()=>({type:"MISMATCHED_STACKER_LABWARE_TYPE",message:"The stacker can only store a single type of labware at a time"}),Gb=()=>({type:"MISSING_STACKER_LABWARE_TYPE",message:"Add labware to the stacker in the starting deck so that you can refill it later"}),Rh=()=>({type:"HOPPER_FULL",message:"The hopper has reached capacity"}),En=()=>({type:"HEATER_SHAKER_IS_SHAKING",message:"Attempted to interact with the contents of a heater-shaker when it is shaking."}),Wb=e=>({type:"TALL_LABWARE_EAST_WEST_OF_HEATER_SHAKER",message:`Labware over 53 mm is ${e} of this Heater-Shaker module.`}),$t=e=>{const{unsafePipetteMovementReason:t}=e;switch(t.type){case"thermocyclerLidCollision":return{type:"POSSIBLE_PIPETTE_COLLISION_THERMOCYCLER_LID",message:"There is a possibility that the Pipette will collide with the Thermocycler lid"};case"outsidePipetteExtents":return{type:"POSSIBLE_PIPETTE_COLLISION_OUTSIDE_DECK_EXTENTS",message:"There is a possibility that the pipette will move outside the deck extents."};case"adjacentAdressableAreaCollision":return{type:"POSSIBLE_PIPETTE_COLLISION_ADJACENT_ADDRESSABLE_AREA",message:`There is a possibility that the pipette will collide with adjacent items in ${t.addressableAreaCausingCollision.displayName}`,translationParams:{addressableAreaCausingCollisionDisplayName:t.addressableAreaCausingCollision.displayName}}}},ga=()=>({type:"HEATER_SHAKER_EAST_WEST_LATCH_OPEN",message:"The Heater-Shaker labware latch is open"}),Ia=()=>({type:"HEATER_SHAKER_NORTH_SOUTH_EAST_WEST_SHAKING",message:"The Heater-Shaker is shaking"}),Ea=()=>({type:"HEATER_SHAKER_EAST_WEST_MULTI_CHANNEL",message:"The Heater-Shaker is shaking"}),ds=()=>({type:"HEATER_SHAKER_NORTH_SOUTH__OF_NON_TIPRACK_WITH_MULTI_CHANNEL",message:"8-Channel pipette cannot access labware"}),wn=()=>({type:"LABWARE_OFF_DECK",message:"Attempted to interact with labware off deck"}),Yb=()=>({type:"LABWARE_ON_ANOTHER_ENTITY",message:"Attempted to move labware onto another entity with the same slotName"}),Rn=()=>({type:"DROP_TIP_LOCATION_DOES_NOT_EXIST",message:"The destination for dropping tip does not exist"}),kh=()=>({type:"EQUIPMENT_DOES_NOT_EXIST",message:"Equipment does not exist."}),Kb=()=>({type:"GRIPPER_REQUIRED",message:"The gripper is required to fulfill this action"}),Vt=e=>({type:"PIPETTING_INTO_COLUMN_4",message:`Cannot ${e.typeOfStep} into a column 4 slot.`}),Xb=()=>({type:"CANNOT_MOVE_WITH_GRIPPER",message:"The gripper cannot move aluminum blocks"}),Zb=()=>({type:"NO_TIP_SELECTED",message:"No tips were selected for this step"}),wa=()=>({type:"LABWARE_DISCARDED_IN_TRASH",message:"The labware was discarded in trash in a previous step."}),vh=()=>({type:"SUBMERGE_BELOW_ASPIRATE",message:"The submerge position must be above the aspirate position"}),Ph=()=>({type:"RETRACT_BELOW_ASPIRATE",message:"The retract position must be above the aspirate position"}),Qb=()=>({type:"SUBMERGE_BELOW_DISPENSE",message:"The submerge position must be above the dispense position"}),Jb=()=>({type:"RETRACT_BELOW_DISPENSE",message:"The retract position must be above the dispense position"}),eT=()=>({type:"MULTI_ASPIRATE_VOLUME_TOO_HIGH",message:"Consolidate pipette path was selected but cannot fit volume for more than 1 well in the tip"}),tT=()=>({type:"MULTI_DISPENSE_VOLUME_TOO_HIGH",message:"Distribute pipette path was selected but cannot fit volume for more than 1 well in the tip"}),rT=e=>({type:"CLOSING_THERMOCYCLER_WITH_INVALID_LABWARE_LID",message:`Closing the Thermocycler lid with ${e.lidDisplayName} in place will cause damage`}),mp=()=>({type:"RETURN_TIP_UNAVAILABLE",message:"Current tip does not have a known location to return to"}),nT=()=>({type:"TIPRACK_LID_NOT_ALLOWED_ON_DECK",message:"The tip rack lid is not supported directly on the deck"}),aT=()=>({type:"NEXT_TIPRACK_HAS_LID",message:"A pipette cannot pick up tips from a tip rack with a lid"}),sT=e=>({type:"STACK_TOO_HIGH",message:`The stack on slot ${e.slot} is too high`}),oT=()=>({type:"TOO_MANY_TIPS",message:"Action will pick up too many tips"}),iT=()=>({type:"INCOMPLETE_PICKUP",message:"At least one of the selected tips is empty"}),lT=()=>({type:"LABWARE_ON_HOPPER",message:"Labware cannot be moved from the Flex Stacker Hopper"}),uT=()=>({type:"MISSING_PUMP_ACTIVITY",message:"This module is not currently running a pump activity."}),cT=e=>({type:"INVALID_WAIT_CONDITION",message:`Invalid wait condition: ${e}`}),Sa=()=>({type:"LIVE_TASK_ERROR",message:"This module is currently running a live task. 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A=t.pipetteEntities[n]?.spec.channels!==1,w=ft({robotState:r,invariantContext:t,pipetteId:n,labwareId:s,wellLocationOffset:p?.offset??{x:0,y:0,z:0},wellTargetName:o,primaryNozzle:d,nozzleConfiguration:f});if(A&&b&&!w.isSafe&&h.push($t({unsafePipetteMovementReason:w.reason})),Va(r.modules,r.labware,s)&&h.push(In()),Ua(r.modules,r.labware,s)&&h.push(Mr()),Ha(r.modules,r.labware,s)&&h.push(ps()),za(r.modules,r.labware,s)&&h.push(En()),Hn(r.modules,y,T?c.FLEX_ROBOT_TYPE:c.OT2_ROBOT_TYPE)&&h.push(Ia()),T||(Bn(r.modules,y)&&h.push(ga()),xn(r.modules,y,b)&&h.push(Ea()),xa(r.modules,y,b,t.labwareEntities[s])&&h.push(ds())),h.length===0&&b&&b.liquids.default.maxVolume<a&&h.push(os({actionName:_,volume:a,maxVolume:b.liquids.default.maxVolume})),h.length===0&&b){const k=qs(n,t,u);k<a&&h.push($b({actionName:_,volume:a,maxVolume:k}))}if(h.length>0)return{errors:h};const I=[{commandType:"aspirate",key:D(),params:{pipetteId:n,volume:a,labwareId:s,wellName:o,wellLocation:p,flowRate:i},...l&&{meta:{isAirGap:l}}}],S=t.pipetteEntities[n].pythonName,L=t.labwareEntities[s].pythonName,E=[`volume=${a}`,`location=${L}[${N(o)}]${Bt(p)}`,`flow_rate=${i}`],g=`${S}.aspirate(
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+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const c=require("@opentrons/shared-data");function Zb(){return{type:"INSUFFICIENT_TIPS",message:"Not enough tips to complete action"}}function Xb(){return{type:"MISSING_96_CHANNEL_TIPRACK_ADAPTER",message:"A 96-channel cannot pick up tips fully without an adapter"}}function Qb(){return{type:"REMOVE_96_CHANNEL_TIPRACK_ADAPTER",message:"A 96-channel cannot pick up tips partially with an adapter"}}function zt(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 Jb(){return{message:"One or more of the pipettes has a tip",type:"PIPETTE_HAS_TIP"}}function ft(e){const{pipette:t}=e;return{message:`This step tries to use the ${t}. 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+${L}.blow_out(${S}[${g}]${k})`}},F_=(e,t,r)=>{const n={commandType:"captureImage",key:M(),params:{homeBefore:e.homeBefore,fileName:e.fileName,resolution:e.resolution,zoom:e.zoom,contrast:e.contrast,brightness:e.brightness,saturation:e.saturation}},a=`${we}.capture_image()`;return{commands:[n],python:a}},U_=(e,t,r)=>{const{message:n}=e,a=[{commandType:"comment",key:M(),params:{message:n}}],o=`${we}.comment(${C(n)})`;return{commands:a,python:o}},Rn=(e,t,r)=>{const{pipetteId:n,volume:a}=e,{runtimeParameters:o}=t,s=B(n,o),i=ie(a,o),l=[];if(s==null&&l.push(H({parameterName:n})),typeof a=="string"&&i==null&&l.push(H({parameterName:a})),s==null||i==null)return{errors:l};const u=t.pipetteEntities[s];return u==null?{commands:[]}:{commands:[{commandType:"configureForVolume",key:M(),params:{pipetteId:s,volume:i}}],python:`${u.pythonName}.configure_for_volume(${a})`}},q_=(e,t,r)=>{const{pipetteId:n,configurationParams:a}=e,{style:o,primaryNozzle:s,backLeftNozzle:i}=a,{runtimeParameters:l}=t,u=B(n,l),p=fo(o,i_,l),d=s==null?void 0:fo(s,l_,l),f=i==null?void 0:fo(i,u_,l),m=[];if(u==null&&m.push(H({parameterName:n})),p==null&&m.push(H({parameterName:o})),s!=null&&d==null&&m.push(H({parameterName:s})),i!=null&&f==null&&m.push(H({parameterName:i})),u==null||p==null||s!=null&&d==null||i!=null&&f==null)return{errors:m};const h=t.pipetteEntities[u].pythonName;let _=`protocol_api.${p}`;l[o]!=null&&(_=o);const b=[_];if(s!=null&&d!=null){const y=ac(s,d,l);p===c.PARTIAL_COLUMN?b.push(`start=${C(c.H1_NOZZLE)}, end=${y}`):b.push(`start=${y}`)}i!=null&&f!=null&&b.push(`back_left=${ac(i,f,l)}`);const T={style:p,...d!=null?{primaryNozzle:d}:{},...f!=null?{backLeftNozzle:f}:{}};return{commands:[{commandType:"configureNozzleLayout",key:M(),params:{pipetteId:u,configurationParams:T}}],python:`${h}.configure_nozzle_layout(
+${Y(b.join(`,
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-)`}},L_=(e,t,r)=>{const{moduleId:n}=e;if(n===null)return{errors:[Q()]};const a=t.moduleEntities[n],s=a?.type,o=a?.pythonName,i={moduleId:n};return s===c.TEMPERATURE_MODULE_TYPE?{commands:[{commandType:"temperatureModule/deactivate",key:D(),params:i}],python:`${o}.deactivate()`}:s===c.THERMOCYCLER_MODULE_TYPE?{commands:[{commandType:"thermocycler/deactivateLid",key:D(),params:i},{commandType:"thermocycler/deactivateBlock",key:D(),params:i}],python:`${o}.deactivate_lid()
-${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 ${s}`),{errors:[Q()]})},me=(e,t,r)=>{const{message:n}=e;let a,s;if("seconds"in e){a={commandType:"waitForDuration",key:D(),params:{seconds:e.seconds,message:n}};const o=[`seconds=${e.seconds}`,...n?[`msg=${N(n)}`]:[]];s=`${be}.delay(${o.join(", ")})`}else a={commandType:"waitForResume",key:D(),params:{message:n}},s=`${be}.pause(${n?N(n):""})`;return{commands:[a],python:s}},O_=(e,t,r)=>{const{moduleId:n}=e,{moduleEntities:a}=t,s="magneticModule/disengage";if(n===null)return{errors:[Q()]};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()`}},kc=(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=qn(s,r.labware);if(b||h.push(pt({pipette:n})),Vn({pipette:n,labware:s,invariantContext:t,prevRobotState:r})&&h.push(Ta()),r.tipState.pipettes[n]?.hasTip||h.push(xt({actionName:_,pipette:n,labware:s,well:o})),!s||!r.labware[s]?h.push(dt({actionName:_,labware:s})):W(r.labware[s].stack)==="offDeck"&&h.push(wn()),ve.includes(y))h.push(Vt({typeOfStep:_}));else if(m[y]!=null){const k=W(m[y].stack);ve.includes(k)&&h.push(Vt({typeOfStep:_}))}const A=t.pipetteEntities[n]?.spec.channels!==1,w=ft({robotState:r,invariantContext:t,pipetteId:n,labwareId:s,wellLocationOffset:u?.offset??{x:0,y:0,z:0},wellTargetName:o,primaryNozzle:d,nozzleConfiguration:f});if(A&&!w.isSafe&&h.push($t({unsafePipetteMovementReason:w.reason})),Va(r.modules,r.labware,s)&&h.push(In()),Ua(r.modules,r.labware,s)&&h.push(Mr()),Ha(r.modules,r.labware,s)&&h.push(ps()),za(r.modules,r.labware,s)&&h.push(En()),Hn(r.modules,y,T?c.FLEX_ROBOT_TYPE:c.OT2_ROBOT_TYPE)&&h.push(Ia()),T||(Bn(r.modules,y)&&h.push(ga()),xn(r.modules,y,b)&&h.push(Ea()),xa(r.modules,y,b,t.labwareEntities[s])&&h.push(ds())),h.length>0)return{errors:h};const I=[{commandType:"dispense",key:D(),params:{pipetteId:n,volume:a,labwareId:s,wellName:o,wellLocation:u,flowRate:i,...p!=null?{pushOut:p}:{}},...l&&{meta:{isAirGap:l}}}],S=t.pipetteEntities[n].pythonName,L=t.labwareEntities[s].pythonName,E=[`volume=${a}`,`location=${L}[${N(o)}]${Bt(u)}`,`flow_rate=${i}`,...p!=null?[`push_out=${p}`]:[]],g=`${S}.dispense(
-${G(E.join(`,
+)`}},V_=(e,t,r)=>{const{runtimeParameters:n}=t,a=B(e.moduleId,n);if(e.moduleId!=null&&a==null)return{errors:[H({parameterName:e.moduleId})]};if(a===null)return{errors:[re()]};const o=t.moduleEntities[a],s=o?.type,i=o?.pythonName,l={moduleId:a};return s===c.TEMPERATURE_MODULE_TYPE?{commands:[{commandType:"temperatureModule/deactivate",key:M(),params:l}],python:`${i}.deactivate()`}:s===c.THERMOCYCLER_MODULE_TYPE?{commands:[{commandType:"thermocycler/deactivateLid",key:M(),params:l},{commandType:"thermocycler/deactivateBlock",key:M(),params:l}],python:`${i}.deactivate_lid()
+${i}.deactivate_block()`}:s===c.HEATERSHAKER_MODULE_TYPE?{commands:[{commandType:"heaterShaker/deactivateHeater",key:M(),params:l}],python:`${i}.deactivate_heater()`}:(console.error(`setTemperature expected module ${a} to be ${c.TEMPERATURE_MODULE_TYPE}, ${c.THERMOCYCLER_MODULE_TYPE} or ${c.HEATERSHAKER_MODULE_TYPE}, got ${s}`),{errors:[re()]})},be=(e,t,r)=>{const{message:n}=e;let a,o;if("seconds"in e){a={commandType:"waitForDuration",key:M(),params:{seconds:e.seconds,message:n}};const s=[`seconds=${e.seconds}`,...n?[`msg=${C(n)}`]:[]];o=`${we}.delay(${s.join(", ")})`}else a={commandType:"waitForResume",key:M(),params:{message:n}},o=`${we}.pause(${n?C(n):""})`;return{commands:[a],python:o}},$_=(e,t,r)=>{const{moduleId:n}=e,{moduleEntities:a}=t,o="magneticModule/disengage";if(n===null)return{errors:[re()]};if(a[n]?.type!==c.MAGNETIC_MODULE_TYPE)throw new Error(`expected module ${n} to be magdeck, got ${a[n]?.type}`);const s=a[n].pythonName;return{commands:[{commandType:o,key:M(),params:{moduleId:n}}],python:`${s}.disengage()`}},qc=(e,t,r)=>{const{pipetteId:n,volume:a,labwareId:o,wellName:s,flowRate:i,isAirGap:l,wellLocation:u,pushOut:p,primaryNozzle:d,nozzles:f}=e,m="dispense",h=r.labware,_=[],b=t.pipetteEntities[n]?.spec,T=(b?.displayCategory==="FLEX"||b?.channels===96)??!1,y=Hn(o,r.labware);if(b||_.push(ft({pipette:n})),jn({pipette:n,labware:o,invariantContext:t,prevRobotState:r})&&_.push(Aa()),r.tipState.pipettes[n]?.hasTip||_.push(zt({actionName:m,pipette:n,labware:o,well:s})),!o||!r.labware[o]?_.push(mt({actionName:m,labware:o})):K(r.labware[o].stack)==="offDeck"&&_.push(Ln()),De.includes(y))_.push(xt({typeOfStep:m}));else if(h[y]!=null){const k=K(h[y].stack);De.includes(k)&&_.push(xt({typeOfStep:m}))}const I=t.pipetteEntities[n]?.spec.channels!==1,w=ht({robotState:r,invariantContext:t,pipetteId:n,labwareId:o,wellLocationOffset:u?.offset??{x:0,y:0,z:0},wellTargetName:s,primaryNozzle:d,nozzleConfiguration:f});if(I&&!w.isSafe&&_.push(Bt({unsafePipetteMovementReason:w.reason})),Ga(r.modules,r.labware,o)&&_.push(Sn()),Ha(r.modules,r.labware,o)&&_.push(qr()),Ka(r.modules,r.labware,o)&&_.push(To()),Za(r.modules,r.labware,o)&&_.push(An()),Yn(r.modules,y,T?c.FLEX_ROBOT_TYPE:c.OT2_ROBOT_TYPE)&&_.push(Oa()),T||(Gn(r.modules,y)&&_.push(La()),Wn(r.modules,y,b)&&_.push(Ra()),Ya(r.modules,y,b,t.labwareEntities[o])&&_.push(Io())),_.length>0)return{errors:_};const E=[{commandType:"dispense",key:M(),params:{pipetteId:n,volume:a,labwareId:o,wellName:s,wellLocation:u,flowRate:i,...p!=null?{pushOut:p}:{}},...l&&{meta:{isAirGap:l}}}],A=t.pipetteEntities[n].pythonName,L=t.labwareEntities[o].pythonName,S=[`volume=${a}`,`location=${L}[${C(s)}]${Ht(u)}`,`flow_rate=${i}`,...p!=null?[`push_out=${p}`]:[]],g=`${A}.dispense(
+${Y(S.join(`,
 `))},
-)`;return{commands:I,python:g}},Xe=(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(xt({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(${f.join(", ")})`;return u.length>0?{errors:u}:{commands:p,python:_}},Hr=(e,t,r)=>{const{pipette:n,dropTipLocation:a,wellName:s,isReturnTip:o}=e;if(!r.tipState.pipettes[n]?.hasTip)return{commands:[]};const i=r.pipettes[n].tiprackId,l=r.pipettes[n].tipWell,u=Object.values(t.labwareEntities).find(({id:_})=>_===i),p=u!=null&&l!=null;if(o&&!p)return{errors:[mp()]};let d=null;if(o&&p){const _=t.pipetteEntities[n].pythonName,h=`${u.pythonName}["${l}"]`;d=`${_}.drop_tip(location=${h})`}let f=[];if(o){if(i==null||l==null)return{errors:[mp()]};f=[{commandType:"dropTip",key:D(),params:{pipetteId:n,labwareId:i,wellName:l}}]}else{if(a==null||s==null)return{errors:[Rn()]};f=[{commandType:"dropTip",key:D(),params:{pipetteId:n,labwareId:a,wellName:s}}]}return{commands:f,...d!=null?{python:d}:{}}},Ss=(e,t,r)=>{const{pipetteId:n}=e;if(!r.tipState.pipettes[n]?.hasTip)return{commands:[]};const{pipetteEntities:a,trashBinEntities:s,wasteChuteEntities:o}=t,i=a[n].pythonName,l=r.pipettes[n]?.entityId??"",u=s[l],p=o[l],d=u!=null?`${u.pythonName}, alternate_drop_location=True`:p?.pythonName??"";return{commands:[{commandType:"dropTipInPlace",key:D(),params:{pipetteId:n}}],python:`${i}.drop_tip(${d})`}},R_=(e,t,r)=>{const{moduleId:n,height:a}=e,{moduleEntities:s}=t,o="magneticModule/engage";if(n===null)return{errors:[Q()]};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=${a})`}},k_=(e,t,r)=>{const{moduleEntities:n}=t,{moduleId:a,strategy:s,message:o,count:i}=e,l=mt(r,a);if(a==null||n[a]==null)return{errors:[Q()]};const u=[];if(l==null&&u.push(Q()),u.length>0)return{errors:u};const p=n[a].pythonName;return{commands:[{commandType:"flexStacker/empty",key:D(),params:{moduleId:a,strategy:s,message:o,count:i}}],python:`${p}.empty(${e.message?`message=${N(e.message)}`:""})`}},v_=(e,t,r)=>{const{moduleId:n,interventionMessage:a,fillLabwareIds:s}=e,{labwareEntities:o,moduleEntities:i}=t;if(n==null||i[n]==null)return{errors:[Q()]};const l=mt(r,n),u=Wc(l,t.labwareEntities),p=i[n].pythonName,d=s.filter(T=>!c.getIsLid(o[T].def)).map(T=>o[T]?.pythonName),_=Os(d,4).map(T=>Ma+T.join(", ")).join(`,
-`),m=d.length<4?d.join(", "):`
-${_}
-`;if(l!=null&&l.storedLabwareDetails===null&&l.labwareInHopper==null)return{errors:[Gb()]};if(u){if(s.length>0&&!s.every(y=>Gc(y,t,l)))return{errors:[Oh()]}}else return{errors:[Rh()]};const b=[...s.filter(T=>!c.getIsLid(o[T].def)).length>0?`labware=[${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(
-${G(b)})`}},P_=(e,t,r)=>{const{moduleId:n}=e,{moduleEntities:a}=t;if(n==null||a[n]==null)return{errors:[Q()]};const s=a[n].pythonName,o=mt(r,n),i=o?.labwareInHopper!=null&&o.labwareInHopper.length>0;return o!==null&&jc(o)?{errors:[zb()]}:i?{commands:[{commandType:"flexStacker/retrieve",key:D(),params:{moduleId:n}}],python:`${s}.retrieve()`}:{errors:[Hb()]}},C_=(e,t,r)=>{const{moduleId:n}=e,{labwareEntities:a,moduleEntities:s}=t;if(n==null||s[n]==null)return{errors:[Q()]};const o=s[n].pythonName,i=mt(r,n),l=i?.labwareOnShuttle?.primaryLabwareId??null,u=Wc(i,a);return i!==null&&!jc(i)?{errors:[jb()]}:l!==null&&!Gc(l,t,i)?{errors:[Oh()]}:u?{commands:[{commandType:"flexStacker/store",key:D(),params:{moduleId:n,strategy:"automatic"}}],python:`${o}.store()`}:{errors:[Rh()]}};function Tl(){return{type:"ASPIRATE_MORE_THAN_WELL_CONTENTS",message:"Not enough liquid"}}function gl(){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 sI(){return{type:"TIPRACK_IN_WASTE_CHUTE_HAS_TIPS",message:"Disposing unused tips"}}function oI(){return{type:"TEMPERATURE_IS_POTENTIALLY_UNREACHABLE",message:"The module set temperature is potentially unreachable."}}function iI(){return{type:"WAITING_FOR_NONEXISTENT_TASK",message:"This step is waiting for a task that was never started."}}const lI="opentrons_flex_tiprack_lid",N_=(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?ey(r.tipState,n):!1,h=r.liquidState!=null?ty(r.liquidState,n):!1,b=Object.values(r.tipState.pipettes).some(({hasTip:C})=>C),T="moveToLabware",y=[],A=[],w=c.locationIsOnAddressableArea(s)&&s.addressableAreaName==="gripperWasteChute";!n||!r.labware[n]?y.push(dt({actionName:T,labware:n})):W(r.labware[n].stack)==="offDeck"&&o?y.push(wn()):r.labware[n].stack.includes(Ze)&&y.push(lT());const I=p[n]?.def.metadata.displayCategory==="aluminumBlock";o&&I&&y.push(Xb()),(w&&f&&!o||!f&&o)&&y.push(Kb()),b&&o&&y.push(Ub());const S=r.labware[n]!=null?W(r.labware[n].stack):null;(_&&S==="gripperWasteChute"||c.MOVABLE_TRASH_ADDRESSABLE_AREAS.includes(S)||S==="fixedTrash")&&y.push(wa());const L=S!=null&&r.labware[S]!=null?W(r.labware[S].stack):null,E=L??S,g=C=>C==null?null:C in r.modules?r.modules[C].moduleState:Object.values(r.modules).find(({slot:P})=>P===C)?.moduleState??null,k=Object.entries(r.labware).filter(([C,P])=>P.stack.includes("offDeck")).map(([C])=>C),v=Object.values(s);k.some(C=>v.includes(C))&&o&&y.push(Vb());const q=g(E);q!=null&&(q.type===c.THERMOCYCLER_MODULE_TYPE&&q.lidOpen!==!0?y.push(In()):q.type===c.HEATERSHAKER_MODULE_TYPE?q.latchOpen!==!0?y.push(fp()):q.targetSpeed!==null&&y.push(En()):q.type===c.ABSORBANCE_READER_TYPE&&q.lidOpen!==!0?y.push(Mr()):q.type===c.VACUUM_MODULE_TYPE&&q.currentPumpActivity.type!=="pumpDeactivated"&&y.push(hp()));const $=c.locationIsOnModule(s)&&"moduleId"in s?s.moduleId:null,ee=c.locationIsOnLabware(s)?s.labwareId:null,de=ee!=null?r.labware[ee].stack[1]:null,Te=de??$;s==="offDeck"&&o&&y.push(wn()),m&&w&&_?A.push(sI()):h&&w&&_&&A.push(aI());const se=g(Te);se!=null&&(se.type===c.THERMOCYCLER_MODULE_TYPE&&se.lidOpen!==!0?y.push(In()):se.type===c.HEATERSHAKER_MODULE_TYPE?(se.latchOpen!==!0&&y.push(fp()),se.targetSpeed!==null&&y.push(En())):se.type===c.ABSORBANCE_READER_TYPE?se.lidOpen!==!0&&y.push(Mr()):se.type===c.VACUUM_MODULE_TYPE&&se.currentPumpActivity.type!=="pumpDeactivated"&&y.push(hp())),p[n]?.def.parameters.loadName===lI&&s!=null&&c.locationIsOnDeck(s)&&("slotName"in s||"addressableAreaName"in s&&c.FLEX_STAGING_AREA_SLOT_ADDRESSABLE_AREAS.includes(s.addressableAreaName))&&y.push(nT());const Pe={labwareId:n,strategy:a,newLocation:s},He=[{commandType:"moveLabware",key:D(),params:Pe}],Ve=p[n]?.pythonName;let te="",Se=null;if(s==="offDeck")te=Ln;else if(s==="systemLocation")te="system_location";else if(s==="wasteChuteLocation")te=Ln;else if("labwareId"in s){te=p[s.labwareId].pythonName;const C=r.labware[s.labwareId].stack;Se=C[C.length-1]}else if("moduleId"in s)Se=r.modules[s.moduleId].slot,te=d[s.moduleId].pythonName;else if("slotName"in s){const{slotName:C}=s;if(C in p){const P=W(r.labware[C].stack);te=c.getIsLid(p[C].def)?N(P):p[C].pythonName;const M=r.labware[C].stack;Se=M[M.length-1]}else te=N(C),Se=C}else if("addressableAreaName"in s){const C=ve.includes(s.addressableAreaName),P=c.WASTE_CHUTE_ADDRESSABLE_AREAS.includes(s.addressableAreaName),V=s.addressableAreaName==="fixedTrash",oe=c.MOVABLE_TRASH_ADDRESSABLE_AREAS.includes(s.addressableAreaName)||V?Object.values(l)?.map(F=>F.location):[],U=!P&&!C&&!ma(s.addressableAreaName)?G_(s.addressableAreaName,V?"fixedTrashSlot":"trashBinAdapter",V?c.OT2_ROBOT_TYPE:c.FLEX_ROBOT_TYPE):null,z=oe.find(F=>F===U),x=z!=null?Object.values(l).find(F=>F.location===z)?.id:null;if(C)te=N(s.addressableAreaName);else if(x!=null&&!P)te=l[x]?.pythonName??"";else if(x==null&&P)te=Object.values(u)[0]?.pythonName??"";else if(ma(s.addressableAreaName)){const[F]=Object.entries(r.modules).find(([,H])=>H.moduleState.type===c.VACUUM_MODULE_TYPE)??[];if(F!=null&&d[F]!=null){const{pythonName:H}=d[F];te=`${H}.manifold_dock`}}else te=""}if(Se!=null){const C=fa({slot:Se,labwareState:r.labware,modulesState:r.modules}),P=W(C),{isCompatible:V,isAboveStackLimit:M}=sy(n,C,p,d);V||y.push(Yb()),M&&y.push(sT({slot:P}))}if(y.length>0)return{errors:y};te===""&&console.error("expected to find a python new location but could not");const ze=o?", use_gripper=True":"",Ce=c.getIsLid(p[n].def),Ee=r.labware[n].stack;let X="";if(Ce){const C=ry(Ee);if(C==null)console.error("expected to find a parent for labware to move but could not");else{const P=p[C]!=null,V=P&&c.getIsLid(p[C].def);Ee.length===2||P&&V?X=N(W(Ee)):(P||!c.getIsLid(p[C].def))&&(X=p[C].pythonName)}}Ce&&X===""&&console.error("expected to find a valid lid move location but could not");const Y=Ce?`${be}.move_lid(${X}, ${te}${ze})`:`${be}.move_labware(${Ve}, ${te}${ze})`;return{commands:He,...A.length>0?{warnings:A}:{},python:Y}},Fe=(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=W_(p);return i[a]!=null&&(m=$c(f.location)),{commands:[{commandType:"moveToAddressableArea",key:D(),params:{pipetteId:n,addressableAreaName:m,offset:s}}],python:`${d}.move_to(${_})`}},vc=(e,t,r)=>{const{pipetteId:n,addressableAreaName:a}=e;return{commands:[{commandType:"moveToAddressableAreaForDropTip",key:D(),params:{pipetteId:n,addressableAreaName:a,offset:{x:0,y:0,z:0},alternateDropLocation:!0}}]}},B=(e,t,r)=>{const{pipetteId:n,labwareId:a,wellName:s,wellLocation:o,minimumZHeight:i,forceDirect:l,speed:u}=e,p="moveToWell",d=[],f=r.labware,{pipetteEntities:_,labwareEntities:m}=t,h=_[n]?.spec,b=r.pipettes[n]?.nozzles??c.ALL,T=r.pipettes[n]?.primaryNozzle??cs({nozzles:b,channels:h?.channels}),y=(h?.displayCategory==="FLEX"||h?.channels===96)??!1,A=qn(a,r.labware);if(h||d.push(pt({pipette:n})),!a||!r.labware[a]?d.push(dt({actionName:p,labware:a})):W(r.labware[a].stack)==="offDeck"&&d.push(wn()),ve.includes(A))d.push(Vt({typeOfStep:"move to well"}));else if(f[A]!=null){const v=W(f[A].stack);ve.includes(v)&&d.push(Vt({typeOfStep:p}))}Vn({pipette:n,labware:a,invariantContext:t,prevRobotState:r})&&d.push(Ta()),Va(r.modules,r.labware,a)&&d.push(In()),Ha(r.modules,r.labware,a)&&d.push(ps()),Ua(r.modules,r.labware,a)&&d.push(Mr()),za(r.modules,r.labware,a)&&d.push(En()),Hn(r.modules,A,y?c.FLEX_ROBOT_TYPE:c.OT2_ROBOT_TYPE)&&d.push(Ia()),y||(Bn(r.modules,A)&&d.push(ga()),xn(r.modules,A,h)&&d.push(Ea()),xa(r.modules,A,h,m[a])&&d.push(ds()));const w=t.pipetteEntities[n]?.spec.channels!==1,I=t.pipetteEntities[n]?.spec,S=ft({robotState:r,invariantContext:t,pipetteId:n,labwareId:a,wellLocationOffset:o?.offset??{x:0,y:0,z:0},wellTargetName:s,nozzleConfiguration:b,primaryNozzle:T});if(w&&I&&!S.isSafe&&d.push($t({unsafePipetteMovementReason:S.reason})),d.length>0)return{errors:d};const L=_[n].pythonName,E=m[a].pythonName,g=[{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}}],k=[`${E}[${N(s)}]${Bt(o)}`,...l?["force_direct=True"]:[],...i?[`minimum_z_height=${i}`]:[],...u?[`speed=${u}`]:[]];return{commands:g,python:`${L}.move_to(${k.join(", ")})`}},ss=(e,t,r)=>{const{pipetteId:n,labwareId:a,wellName:s,tipTrackingOption:o=cc,nozzles:i,primaryNozzle:l}=e,u=[],p=t.pipetteEntities[n].spec.channels,d=ft({robotState:r,invariantContext:t,pipetteId:n,labwareId:a,wellLocationOffset:{x:0,y:0},wellTargetName:s,nozzleConfiguration:i,primaryNozzle:l}),f=up({tipState:r.tipState.tipracks[a],primaryNozzle:l,channels:p,nozzleConfiguration:i,wellName:s,tiprackDef:t.labwareEntities[a].def});d.isSafe||u.push($t({unsafePipetteMovementReason:d.reason})),f.isSafe||u.push(oT()),f.isComplete!==!0&&u.push(iT());const _=W(r.labware[a].stack);if(ve.includes(_))u.push(Vt({typeOfStep:"pick up tip"}));else if(r.labware[_]!=null){const T=W(r.labware[_].stack);ve.includes(T)&&u.push(Vt({typeOfStep:"pick up tip"}))}const m=t.pipetteEntities[n].pythonName,h=t.labwareEntities[a].pythonName,b=`${m}.pick_up_tip(location=${h}${o===St?`[${N(s)}]`:""})`;return u.length>0?{errors:u}:{commands:[{commandType:"pickUpTip",key:D(),params:{pipetteId:n,labwareId:a,wellName:s}}],python:b}},D_=(e,t,r)=>{const{moduleId:n,taskId:a,profileElements:s,blockMaxVolumeUl:o}=e,i=t.moduleEntities[n].pythonName,l=sb(e.profileElements),u=l.repeatingProfileSteps.map(m=>`{${N("temperature")}: ${m.celsius}, ${N("hold_time_seconds")}: ${m.holdSeconds}},`).join(`
+)`;return{commands:E,python:g}},Je=(e,t,r)=>{const{isAirGap:n}=e,{runtimeParameters:a}=t,o=B(e.pipetteId,a),s=ie(e.volume,a),i=ie(e.flowRate,a),l=e.pushOut==null?void 0:ie(e.pushOut,a),u=e.correctionVolume==null?void 0:ie(e.correctionVolume,a),p=[e.pipetteId,e.volume,e.flowRate,e.pushOut,e.correctionVolume],d=[o,s,i,l,u],f=p.flatMap((_,b)=>typeof _=="string"&&d[b]==null?[H({parameterName:_})]:[]);if(f.length>0||o==null||s==null||i==null)return{errors:f};if(r.tipState.pipettes[o]?.hasTip||f.push(zt({actionName:"dispense",pipette:o})),f.length>0)return{errors:f};const m=t.pipetteEntities[o].pythonName,h=[`volume=${e.volume}`,`flow_rate=${e.flowRate}`,...e.pushOut!=null?[`push_out=${e.pushOut}`]:[]];return{commands:[{commandType:"dispenseInPlace",key:M(),params:{pipetteId:o,volume:s,flowRate:i,...l!=null?{pushOut:l}:{},...u!=null?{correctionVolume:u}:{}},...n?{meta:{isAirGap:n}}:{}}],python:`${m}.dispense(${h.join(", ")})`}},Gr=(e,t,r)=>{const{isReturnTip:n}=e,{runtimeParameters:a}=t,o=B(e.pipette,a),s=e.dropTipLocation==null?void 0:B(e.dropTipLocation,a),i=e.wellName==null?void 0:B(e.wellName,a),l=[e.pipette,e.dropTipLocation,e.wellName],u=[o,s,i],p=l.flatMap((T,y)=>typeof T=="string"&&u[y]==null?[H({parameterName:T})]:[]);if(p.length>0||o==null)return{errors:p};if(!r.tipState.pipettes[o]?.hasTip)return{commands:[]};const d=r.pipettes[o].tiprackId,f=r.pipettes[o].tipWell,m=Object.values(t.labwareEntities).find(({id:T})=>T===d),h=m!=null&&f!=null;if(n&&!h)return{errors:[wp()]};let _=null;if(n&&h){const T=t.pipetteEntities[o].pythonName,I=`${m.pythonName}["${f}"]`;_=`${T}.drop_tip(location=${I})`}let b=[];if(n){if(d==null||f==null)return{errors:[wp()]};b=[{commandType:"dropTip",key:M(),params:{pipetteId:o,labwareId:d,wellName:f}}]}else{if(s==null||i==null)return{errors:[Cn()]};b=[{commandType:"dropTip",key:M(),params:{pipetteId:o,labwareId:s,wellName:i}}]}return{commands:b,..._!=null?{python:_}:{}}},No=(e,t,r)=>{const{pipetteId:n}=e;if(!r.tipState.pipettes[n]?.hasTip)return{commands:[]};const{pipetteEntities:a,trashBinEntities:o,wasteChuteEntities:s}=t,i=a[n].pythonName,l=r.pipettes[n]?.entityId??"",u=o[l],p=s[l],d=u!=null?`${u.pythonName}, alternate_drop_location=True`:p?.pythonName??"";return{commands:[{commandType:"dropTipInPlace",key:M(),params:{pipetteId:n}}],python:`${i}.drop_tip(${d})`}},B_=(e,t,r)=>{const{moduleId:n,height:a}=e,{moduleEntities:o}=t,s="magneticModule/engage";if(n===null)return{errors:[re()]};if(o[n]?.type!==c.MAGNETIC_MODULE_TYPE)throw new Error(`expected module ${n} to be magdeck, got ${o[n]?.type}`);const i=o[n].pythonName;return{commands:[{commandType:s,key:M(),params:{moduleId:n,height:a}}],python:`${i}.engage(height_from_base=${a})`}},x_=(e,t,r)=>{const{moduleEntities:n}=t,{moduleId:a,strategy:o,message:s,count:i}=e,l=_t(r,a);if(a==null||n[a]==null)return{errors:[re()]};const u=[];if(l==null&&u.push(re()),u.length>0)return{errors:u};const p=n[a].pythonName;return{commands:[{commandType:"flexStacker/empty",key:M(),params:{moduleId:a,strategy:o,message:s,count:i}}],python:`${p}.empty(${e.message?`message=${C(e.message)}`:""})`}},H_=(e,t,r)=>{const{moduleId:n,interventionMessage:a,fillLabwareIds:o}=e,{labwareEntities:s,moduleEntities:i}=t;if(n==null||i[n]==null)return{errors:[re()]};const l=_t(r,n),u=rp(l,t.labwareEntities),p=i[n].pythonName,d=o.filter(T=>!c.getIsLid(s[T].def)).map(T=>s[T]?.pythonName),m=Do(d,4).map(T=>Ba+T.join(", ")).join(`,
+`),h=d.length<4?d.join(", "):`
+${m}
+`;if(l!=null&&l.storedLabwareDetails===null&&l.labwareInHopper==null)return{errors:[lT()]};if(u){if(o.length>0&&!o.every(y=>tp(y,t,l)))return{errors:[Fh()]}}else return{errors:[Uh()]};const b=[...o.filter(T=>!c.getIsLid(s[T].def)).length>0?`labware=[${h}],
+`:[],...a!=null?[`message=${C(a)},
+`]:[]].join("");return{commands:[{commandType:"flexStacker/fillItems",key:M(),params:{moduleId:n,labware:o,message:a??void 0}}],python:`${p}.fill_items(
+${Y(b)})`}},z_=(e,t,r)=>{const{moduleId:n}=e,{moduleEntities:a}=t;if(n==null||a[n]==null)return{errors:[re()]};const o=a[n].pythonName,s=_t(r,n),i=s?.labwareInHopper!=null&&s.labwareInHopper.length>0;return s!==null&&ep(s)?{errors:[sT()]}:i?{commands:[{commandType:"flexStacker/retrieve",key:M(),params:{moduleId:n}}],python:`${o}.retrieve()`}:{errors:[oT()]}},j_=(e,t,r)=>{const{moduleId:n}=e,{labwareEntities:a,moduleEntities:o}=t;if(n==null||o[n]==null)return{errors:[re()]};const s=o[n].pythonName,i=_t(r,n),l=i?.labwareOnShuttle?.primaryLabwareId??null,u=rp(i,a);return i!==null&&!ep(i)?{errors:[iT()]}:l!==null&&!tp(l,t,i)?{errors:[Fh()]}:u?{commands:[{commandType:"flexStacker/store",key:M(),params:{moduleId:n,strategy:"automatic"}}],python:`${s}.store()`}:{errors:[Uh()]}};function Ol(){return{type:"ASPIRATE_MORE_THAN_WELL_CONTENTS",message:"Not enough liquid"}}function Rl(){return{type:"ASPIRATE_FROM_PRISTINE_WELL",message:"This step tries to aspirate from an empty well."}}function IE(){return{type:"LABWARE_IN_WASTE_CHUTE_HAS_LIQUID",message:"Disposing of a labware with liquid"}}function EE(){return{type:"TIPRACK_IN_WASTE_CHUTE_HAS_TIPS",message:"Disposing unused tips"}}function gE(){return{type:"TEMPERATURE_IS_POTENTIALLY_UNREACHABLE",message:"The module set temperature is potentially unreachable."}}function wE(){return{type:"WAITING_FOR_NONEXISTENT_TASK",message:"This step is waiting for a task that was never started."}}const SE="opentrons_flex_tiprack_lid",G_=(e,t,r)=>{const{labwareId:n,strategy:a,newLocation:o}=e,s=a==="usingGripper",{gripperEntities:i,trashBinEntities:l,wasteChuteEntities:u,labwareEntities:p,moduleEntities:d}=t,f=Object.keys(i).length>0,m=Object.values(u).length>0,h=r.tipState!=null?_y(r.tipState,n):!1,_=r.liquidState!=null?yy(r.liquidState,n):!1,b=Object.values(r.tipState.pipettes).some(({hasTip:N})=>N),T="moveToLabware",y=[],I=[],w=c.locationIsOnAddressableArea(o)&&o.addressableAreaName==="gripperWasteChute";!n||!r.labware[n]?y.push(mt({actionName:T,labware:n})):K(r.labware[n].stack)==="offDeck"&&s?y.push(Ln()):r.labware[n].stack.includes(et)&&y.push(ST());const E=p[n]?.def.metadata.displayCategory==="aluminumBlock";s&&E&&y.push(dT()),(w&&f&&!s||!f&&s)&&y.push(pT()),b&&s&&y.push(Jb());const A=r.labware[n]!=null?K(r.labware[n].stack):null;(m&&A==="gripperWasteChute"||c.MOVABLE_TRASH_ADDRESSABLE_AREAS.includes(A)||A==="fixedTrash")&&y.push(va());const L=A!=null&&r.labware[A]!=null?K(r.labware[A].stack):null,S=L??A,g=N=>N==null?null:N in r.modules?r.modules[N].moduleState:Object.values(r.modules).find(({slot:P})=>P===N)?.moduleState??null,k=Object.entries(r.labware).filter(([N,P])=>P.stack.includes("offDeck")).map(([N])=>N),v=Object.values(o);k.some(N=>v.includes(N))&&s&&y.push(rT());const D=g(S);D!=null&&(D.type===c.THERMOCYCLER_MODULE_TYPE&&D.lidOpen!==!0?y.push(Sn()):D.type===c.HEATERSHAKER_MODULE_TYPE?D.latchOpen!==!0?y.push(gp()):D.targetSpeed!==null&&y.push(An()):D.type===c.ABSORBANCE_READER_TYPE&&D.lidOpen!==!0?y.push(qr()):D.type===c.VACUUM_MODULE_TYPE&&D.currentPumpActivity.type!=="pumpDeactivated"&&y.push(Sp()));const q=c.locationIsOnModule(o)&&"moduleId"in o?o.moduleId:null,Q=c.locationIsOnLabware(o)?o.labwareId:null,fe=Q!=null?r.labware[Q].stack[1]:null,_e=fe??q;o==="offDeck"&&s&&y.push(Ln()),h&&w&&m?I.push(EE()):_&&w&&m&&I.push(IE());const ne=g(_e);ne!=null&&(ne.type===c.THERMOCYCLER_MODULE_TYPE&&ne.lidOpen!==!0?y.push(Sn()):ne.type===c.HEATERSHAKER_MODULE_TYPE?(ne.latchOpen!==!0&&y.push(gp()),ne.targetSpeed!==null&&y.push(An())):ne.type===c.ABSORBANCE_READER_TYPE?ne.lidOpen!==!0&&y.push(qr()):ne.type===c.VACUUM_MODULE_TYPE&&ne.currentPumpActivity.type!=="pumpDeactivated"&&y.push(Sp())),p[n]?.def.parameters.loadName===SE&&o!=null&&c.locationIsOnDeck(o)&&("slotName"in o||"addressableAreaName"in o&&c.FLEX_STAGING_AREA_SLOT_ADDRESSABLE_AREAS.includes(o.addressableAreaName))&&y.push(TT());const Oe={labwareId:n,strategy:a,newLocation:o},Be=[{commandType:"moveLabware",key:M(),params:Oe}],Me=p[n]?.pythonName;let ae="",Re=null;if(o==="offDeck")ae=vn;else if(o==="systemLocation")ae="system_location";else if(o==="wasteChuteLocation")ae=vn;else if("labwareId"in o){ae=p[o.labwareId].pythonName;const N=r.labware[o.labwareId].stack;Re=N[N.length-1]}else if("moduleId"in o)Re=r.modules[o.moduleId].slot,ae=d[o.moduleId].pythonName;else if("slotName"in o){const{slotName:N}=o;if(N in p){const P=K(r.labware[N].stack);ae=c.getIsLid(p[N].def)?C(P):p[N].pythonName;const F=r.labware[N].stack;Re=F[F.length-1]}else ae=C(N),Re=N}else if("addressableAreaName"in o){const N=De.includes(o.addressableAreaName),P=c.WASTE_CHUTE_ADDRESSABLE_AREAS.includes(o.addressableAreaName),$=o.addressableAreaName==="fixedTrash",ue=c.MOVABLE_TRASH_ADDRESSABLE_AREAS.includes(o.addressableAreaName)||$?Object.values(l)?.map(U=>U.location):[],V=!P&&!N&&!Ia(o.addressableAreaName)?ly(o.addressableAreaName,$?"fixedTrashSlot":"trashBinAdapter",$?c.OT2_ROBOT_TYPE:c.FLEX_ROBOT_TYPE):null,G=ue.find(U=>U===V),z=G!=null?Object.values(l).find(U=>U.location===G)?.id:null;if(N)ae=C(o.addressableAreaName);else if(z!=null&&!P)ae=l[z]?.pythonName??"";else if(z==null&&P)ae=Object.values(u)[0]?.pythonName??"";else 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")})`}},bI=(e,t,r)=>{const{pipetteId:n,labwareId:a,wellName:s,wellLocation:o}=e,{pipetteEntities:i}=t,l=i[n].pythonName,u=t.labwareEntities[a].pythonName;return{commands:[{commandType:"tryLiquidProbe",key:D(),params:{pipetteId:n,labwareId:a,wellName:s,wellLocation:o}}],python:`${l}.detect_liquid_presence(${u}[${N(s)}])`}},q_=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"heaterShaker/closeLabwareLatch",key:D(),params:{moduleId:e.moduleId}}],python:`${n}.close_labware_latch()`}},Gu=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"heaterShaker/deactivateHeater",key:D(),params:{moduleId:e.moduleId}}],python:`${n}.deactivate_heater()`}},TI=["1","4","7","10"],$_=(e,t,r)=>{const{pipetteEntities:n,labwareEntities:a,moduleEntities:s}=t,o=r.modules[e.moduleId].slot,i=Object.keys(n)[0],l=n[i]?.spec;if(!((l?.displayCategory==="FLEX"||l?.channels===96)??!1)&&Uy(r.labware,a,o)){const d=TI.includes(o)?"right":"left";return{errors:[Wb(d)]}}const p=s[e.moduleId].pythonName;return{commands:[{commandType:"heaterShaker/openLabwareLatch",key:D(),params:{moduleId:e.moduleId}}],python:`${p}.open_labware_latch()`}},V_=(e,t,r)=>{const{moduleEntities:n}=t,{moduleId:a,rpm:s}=e;if(a===null)return{errors:[Q()]};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(${s})`}},Wu=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"heaterShaker/deactivateShaker",key:D(),params:{moduleId:e.moduleId}}],python:`${n}.deactivate_shaker()`}},Uc=(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?xc(u.stack):null,d=p!=null?s[p].def.metadata.displayName:null;return d!=null&&o.push(rT({lidDisplayName:d})),o.length>0?{errors:o}:{commands:[{commandType:"thermocycler/closeLid",key:D(),params:{moduleId:n}}],python:`${i}.close_lid()`}},B_=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"thermocycler/deactivateBlock",key:D(),params:{moduleId:e.moduleId}}],python:`${n}.deactivate_block()`}},x_=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"thermocycler/deactivateLid",key:D(),params:{moduleId:e.moduleId}}],python:`${n}.deactivate_lid()`}},H_=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"thermocycler/openLid",key:D(),params:{moduleId:e.moduleId}}],python:`${n}.open_lid()`}},z_=(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})`}},qc=(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})`}};function O(e,t){return(r,n)=>e(t,r,n)}function R(e,t){return(r,n)=>{const a=e(t,r,n);if("python"in a){const{python:s,...o}=a;return o}return a}}const je="__air__",zr="source_well",Mn="dest_well";function j_(e){return Kh.includes(e.parameters.loadName)}const gI=e=>(e.parameters.quirks??[]).includes("vacuumModuleDock"),G_=(e,t,r)=>{const s=c.getDeckDefFromRobotType(r).cutoutFixtures.find(l=>l.id.includes(t))?.providesAddressableAreas,i=(l=>{if(s!=null){for(const u in s)if(s[u].includes(l))return u}return null})(e);if(i==null)throw Error(`expected to find cutoutId from addressableAreaName ${e} but could not`);return i};function W_(e){switch(e){case 1:return c.ONE_CHANNEL_WASTE_CHUTE_ADDRESSABLE_AREA;case 8:return c.EIGHT_CHANNEL_WASTE_CHUTE_ADDRESSABLE_AREA;case 96:return c.NINETY_SIX_CHANNEL_WASTE_CHUTE_ADDRESSABLE_AREA}}function $c(e){const t=c.getDeckDefFromRobotType(e==="cutout12"?c.OT2_ROBOT_TYPE:c.FLEX_ROBOT_TYPE);let r=null;return 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y=Object.entries(i).find(([E,{slot:g}])=>{const{type:k}=t.moduleEntities[E]??{};return k===c.FLEX_STACKER_MODULE_TYPE&&typeof a=="object"&&("moduleId"in a&&a.moduleId===E||"slotName"in a&&g===a.slotName)})??null,[A,w]=y??[];if(A!=null&&w!=null){const E=T.length>0?T:fa({slot:u,labwareState:l,modulesState:i}),g=E.indexOf(n),k=w.moduleState;if(g!==-1){const v=E.slice(0,g+1).toReversed();if(k.labwareOnShuttle==null&&(k.labwareOnShuttle={primaryLabwareId:"",adapterLabwareId:null,lidLabwareId:null}),v.length===3)for(let q=0;q<Jt.length;q++){const $=Jt[q];k.labwareOnShuttle[$]=v[q]}else if(v.length===2){const q=v.some($=>t.labwareEntities[$].def.allowedRoles?.some(ee=>ee==="lid"))?["primaryLabwareId","lidLabwareId"]:["adapterLabwareId","primaryLabwareId"];for(let $=0;$<q.length;$++){const ee=q[$];k.labwareOnShuttle[ee]=v[$]}}else v.length===1&&(k.labwareOnShuttle.primaryLabwareId=v[0])}}const I=[];if(c.locationIsOffDeck(a))I.push(a);else if("moduleId"in a)if(i[a.moduleId].moduleState.type===c.FLEX_STACKER_MODULE_TYPE)I.push(i[a.moduleId].slot);else if(t.moduleEntities[a.moduleId]?.type===c.VACUUM_MODULE_TYPE){const E=i[a.moduleId].slot,g=fa({slot:E,labwareState:l,modulesState:i});g.length>0?I.push(...g):I.push(a.moduleId,E)}else I.push(a.moduleId,i[a.moduleId].slot);else if("slotName"in a){const{slotName:E}=a;E in l?(m=c.getIsPipettableLabware(o[E].def),I.push(...l[E].stack)):I.push(E)}else if("labwareId"in a){const E=a.labwareId;m=c.getIsPipettableLabware(o[E].def);const g=l[E].stack;I.push(...g)}else if("addressableAreaName"in a)if(ma(a.addressableAreaName)){const E=Object.entries(i).find(([g])=>t.moduleEntities[g]?.type===c.VACUUM_MODULE_TYPE)?.[0];I.push(pc),E!=null&&I.push(E),I.push(a.addressableAreaName)}else I.push(a.addressableAreaName);f.forEach((E,g)=>{if(l[E]!=null){const k=f.slice(g+1);s.labware[E]={...s.labware[E],stack:[E,...k,...I],..._&&m?{sterility:rc}:{}}}});const S=typeof a=="object"&&"labwareId"in a&&c.getIsPipettableLabware(o[a.labwareId].def);let L=a;if(typeof a=="object"&&a!==null&&"moduleId"in a&&i[a.moduleId].moduleState.type===c.FLEX_STACKER_MODULE_TYPE){const E=Rs(i[a.moduleId].slot);E!=null&&(L={addressableAreaName:E})}else if(typeof a=="object"&&a!==null&&"moduleId"in a&&t.moduleEntities[a.moduleId]?.type===c.VACUUM_MODULE_TYPE){const E=i[a.moduleId].slot,g=fa({slot:E,labwareState:l,modulesState:i}),k=g.length>0?g[0]:null;k!=null&&k in o&&(L={labwareId:k})}s.labware[n].stackedOnNode=L,S&&(s.labware[n].sterility=rc),s.labware=sp(rr(s.labware,E=>QE(E,"contains")),o)}function dw(e,t,r){const{pipetteId:n,addressableAreaName:a}=e,{wasteChuteEntities:s,trashBinEntities:o}=t,i=c.WASTE_CHUTE_ADDRESSABLE_AREAS.includes(a),l=Object.values(o).find(d=>d.location===Y_(a))?.id,u=i?Object.values(s)[0].id:l,{robotState:p}=r;p.pipettes[n]={...p.pipettes[n],entityId:u}}function fw(e,t,r){const{pipetteId:n,labwareId:a,wellName:s}=e,{robotState:o}=r;o.pipettes[n]={...o.pipettes[n],entityId:a,wellName:s}}function mw(e,t,r){const{pipetteId:n,labwareId:a,wellName:s}=e,o=t.pipetteEntities[n].spec,i=t.labwareEntities[a].def;if(!c.getIsTiprack(i))throw new Error(`forPickUpTip expected ${a} to be a tiprack`);const l=r.robotState.tipState,u=r.robotState.pipettes[n].nozzles,p=r.robotState.pipettes[n].primaryNozzle,d=lp(u,o),f=(h,b)=>h.find(T=>T.includes(b)),_=(h,b)=>{const T=h.findIndex(A=>A.includes(b));if(T===-1)return null;const y=h[T].indexOf(b);return h.map(A=>A[y])},m=(h,b)=>{const T=c.PARTIAL_NOZZLE_MAP[p],y=h.findIndex(L=>L.includes(b)),A=h[y].indexOf(b),w=h[y];if(w.length-A<T){const L=w.length-T;return w.slice(L,w.length)}const S=A+T;return w.slice(A,Math.min(S,w.length))};if(l.pipettes[n].hasTip=!0,l.pipettes[n].tiprackURI=a,d===c.SINGLE)l.tipracks[a][s]=ue;else if(d===c.PARTIAL_COLUMN&&p){const h=m(i.ordering,s);h==null?console.error(`Invalid primary well for 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u=a.labware[i],p=a.labware[l];Object.entries(p).forEach(([d,f])=>{const _=u[d];Object.entries(_).forEach(([m,{volume:h}])=>{f[m]={volume:m in 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t=e.currentPumpActivity.ventAfter;return e.currentPumpActivity={type:"pumpDeactivated"},e.ventStatus=t?dc:ka,!0}return!1};function Uw(e,t,r){for(const n of e.task_ids)vy(n,r)||r.warnings.push(iI())}const vy=(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"?Ow(a.moduleState):a.moduleState.type==="vacuumModuleType"?Fw(a.moduleState):(console.log(`unexpected module type with task: ${a.moduleState.type}`),!1)},Un=(e,t)=>{const r=Ot(e,t);return r.type===c.HEATERSHAKER_MODULE_TYPE?r:(console.error(`Heater-Shaker 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Py(e,t){e.type===c.MAGNETIC_MODULE_TYPE&&(e.engaged=t)}function Gw(e,t,r){const{moduleId:n}=e,{robotState:a}=r,s=Ot(a,n);Py(s,!0)}function Ww(e,t,r){const{moduleId:n}=e,{robotState:a}=r,s=Ot(a,n);Py(s,!1)}const Au=(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},Cy=(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},Ny=(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=Au(u,t.storedLabwareDetails?.primaryLabwareURI),_=o!=null?Au(u,t.storedLabwareDetails?.adapterLabwareURI):null,m=i!=null?Au(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}},Yw=(e,t,r)=>{const{robotState:n}=r,{moduleId:a}=e,s=Object.entries(n.labware).filter(([,i])=>i.stack.includes(Ze)&&i.stack.includes(a)),o=mt(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]}})},Kw=(e,t,r)=>{const{robotState:n}=r,{labwareEntities:a}=t,{moduleId:s,labware:o}=e,i=n.modules[s].slot,l=mt(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 _=[Ze,s,i];for(const b of f){const T=[b.adapterLabwareId,b.primaryLabwareId,b.lidLabwareId,..._].filter(A=>A!=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 A of T)a[A]!=null&&(y==null?n.labware[A].stackedOnNode={kind:"inStackerHopper",moduleId:s}:n.labware[A].stackedOnNode={labwareId:y},y=A)}const m=l.labwareInHopper??[],h=f.map(({primaryLabwareId:b,adapterLabwareId:T,lidLabwareId:y})=>({primaryLabwareId:b,adapterLabwareId:T,lidLabwareId:y}));l.labwareInHopper=[...m,...h]},Xw=(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=mt(n,s),_=[Ze,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?Ny(n,f,a,i,_,"setStoredLabwareCount",l?.loadName,u?.loadName):p!=null&&Cy(f,p,n,_),f.setStoredLabwareCount=(f?.setStoredLabwareCount??0)+1)},Zw=(e,t,r)=>{const{robotState:n}=r,{moduleId:a,labware:s}=e,{labwareEntities:o}=t,i=n.modules[a].slot,l=mt(n,a);if(l==null)return;const u=s.map(I=>I.split(":")[1]),p=new Set(u),d=Array.from(p),f=d.find(I=>Object.values(o).find(S=>S.labwareDefURI===I&&!S.def.allowedRoles?.includes("lid")&&!S.def.allowedRoles?.includes("adapter"))),_=d.find(I=>Object.values(o).find(S=>S.labwareDefURI===I&&S.def.allowedRoles?.includes("adapter"))),m=d.find(I=>Object.values(o).find(S=>S.labwareDefURI===I&&S.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 I of s){const S=o[I].labwareDefURI;if(S===f)h.push({primary:I,adapter:null,lid:null});else if(S===_){const L=h[h.length-1];L&&(L.adapter=I)}else if(S===m){const L=h[h.length-1];L&&(L.lid=I)}}const b=[Ze,a,i];for(const I of h){const S=[I.adapter,I.primary,I.lid,...b].filter(L=>L!=null);n.labware[I.primary]={...n.labware[I.primary],stack:S.slice(S.indexOf(I.primary))},I.adapter!=null&&(n.labware[I.adapter]={...n.labware[I.adapter],stack:S.slice(S.indexOf(I.adapter))}),I.lid!=null&&(n.labware[I.lid]={...n.labware[I.lid],stack:S.slice(S.indexOf(I.lid))})}const T=l.labwareInHopper??[],y=h.map(I=>({primaryLabwareId:I.primary,adapterLabwareId:I.adapter,lidLabwareId:I.lid})),A=new Map(T.map(I=>[I.primaryLabwareId,I])),w=[];for(const I of y)w.push(I),A.delete(I.primaryLabwareId);for(const I of T)A.has(I.primaryLabwareId)&&w.push(I);l.labwareInHopper=w},Qw=(e,t,r)=>{const{robotState:n}=r,{moduleId:a,count:s,labwareToStore:o}=e,{labwareEntities:i}=t,l=n.modules[a].slot,u=mt(n,a),p=[Ze,a,l];if(u!=null){const d=u.storedLabwareDetails?.adapterLabwareURI,f=u.storedLabwareDetails?.lidLabwareURI;s!=null?Ny(n,u,i,s,p,"fillCount",d,f):o!=null&&Cy(u,o,n,p),u.fillCount=(u?.fillCount??0)+1}},Jw=(e,t,r)=>{const{robotState:n}=r,{moduleId:a}=e,s=mt(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 Jt){const _=u[f];if(_!=null){if(p.unshift(_),n.labware[_].stack=[...p],d==null){const m=Rs(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=_}}}}},eS=(e,t,r)=>{const{robotState:n}=r,{moduleId:a}=e,s=mt(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 Jt){const p=i[u];p!=null&&(n.labware[p].stack=[p,Ze,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 Dy(e,t,r){e.type===c.TEMPERATURE_MODULE_TYPE&&(e.targetTemperature=t,e.status=r)}function tS(e,t,r){const{robotState:n}=r,{moduleId:a,celsius:s}=e,o=Ot(n,a);Dy(o,s,uc)}function rS(e,t,r){const{robotState:n}=r,{moduleId:a,celsius:s}=e,o=Ot(n,a);o.type===c.TEMPERATURE_MODULE_TYPE&&s===o.targetTemperature&&(o.status=lc)}function nS(e,t,r){const{robotState:n}=r,{moduleId:a}=e,s=Ot(n,a);Dy(s,null,Oa)}function My(e,t,r){if(!e)throw new Error("undefined command passed to 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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?W(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},ae=(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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cS(e,t,r){const{labware:n,modules:a,pipettes:s,commands:o,liquids:i}=e,l=t.protocolType==="python"?t.apiVersion:null,u=l!=null&&l[0]>=lS&&l[1]>=uS,p=t.protocolType==="json"&&r>=iS,d=c.getLabwareDefinitionsByURIForProtocol(o),f=i.reduce((y,A)=>{const{id:w,description:I,displayName:S,displayColor:L}=A;return{...y,[w]:{description:I,displayName:S??"Unknown Liquid",pythonName:"n/a",displayColor:L??"#B7B8B9",liquidGroupId:w}}},{}),_=a.reduce((y,A)=>{const{id:w,model:I}=A;return{...y,[w]:{id:w,type:c.getModuleType(I),model:I,pythonName:"n/a"}}},{}),m=n.reduce((y,A)=>{const{id:w,definitionUri:I}=A,S=d[I];return S==null||S.schemaVersion===3?y:{...y,[w]:{id:w,labwareDefURI:I,def:S,pythonName:"n/a"}}},{}),h=o.reduce((y,A)=>{if(A.commandType==="loadLidStack"&&A.result!=null){const{stackLabwareId:w,lidStackDefinition:I}=A.result;if(w!=null&&I!=null&&y[w]==null&&I.schemaVersion!==3)return{...y,[w]:{id:w,labwareDefURI:c.getLabwareDefURI(I),def:I,pythonName:"n/a"}}}return y},m),b=s.reduce((y,A)=>{const{id:w,pipetteName:I}=A,S=c.getPipetteSpecsV2(I),E=o.filter(v=>v.commandType==="pickUpTip"&&v.params.pipetteId===w).map(v=>h[v.params.labwareId]),g=Array.from(new Set(E.map(v=>v.labwareDefURI))),k=Array.from(new Set(E.map(v=>v.def)));return S==null||(y[w]={name:I,id:w,tiprackLabwareDef:k,tiprackDefURI:g,spec:S,pythonName:"n/a"}),y},{}),T=o.reduce((y,A)=>{if(A.commandType==="loadLidStack"&&A.result!=null){const{params:w}=A,I=Ku(w);return{...y,stagingAreaEntities:{...y.stagingAreaEntities,...I}}}else if((A.commandType==="loadLabware"||A.commandType==="loadLid")&&A.result!=null){const{params:w}=A,I=Ku(w);return{...y,stagingAreaEntities:{...y.stagingAreaEntities,...I}}}else if(A.commandType==="moveToAddressableArea"||A.commandType==="moveToAddressableAreaForDropTip"){const w=A.params.addressableAreaName,I=`${D()}:${w}`;let S=zh;w==="fixedTrash"?S="cutout12":w.includes("WasteChute")?S="cutoutD3":w.includes("movableTrash")&&(S=`cutout${w.split("movableTrash")[1]}`);let L=y.trashBinEntities;Object.values(y.trashBinEntities).some(g=>g.location===S)||(w.includes("movableTrash")?L={...y.trashBinEntities,[I]:{pythonName:"trash_bin_1",id:I,location:S}}:w==="fixedTrash"&&(L={...y.trashBinEntities,[I]:{pythonName:"trash_bin_1",id:I,location:S}}));let E=y.wasteChuteEntities;return w.includes("WasteChute")&&(E={[I]:{pythonName:"waste_chute",id:I,location:S}}),{...y,trashBinEntities:L,wasteChuteEntities:E}}return y},{wasteChuteEntities:{},trashBinEntities:{},stagingAreaEntities:{},runtimeParameters:{},gripperEntities:{},config:{OT_PD_DISABLE_MODULE_RESTRICTIONS:!0}});return{labwareEntities:h,pipetteEntities:b,moduleEntities:_,liquidEntities:u||p?f:{},...T}}const pS={A3:"A4",B3:"B4",C3:"C4",D3:"D4"};function dS(e,t){const r=e.reduce((o,i)=>i.commandType==="loadPipette"&&i.result!=null?{...o,[i.result.pipetteId]:{mount:i.params.mount}}:o,{}),n=e.reduce((o,i)=>{if(i.commandType==="loadModule"&&i.result!=null){const l=c.getModuleDef(i.params.model).moduleType;return{...o,[i.result.moduleId]:{slot:l===c.FLEX_STACKER_MODULE_TYPE?pS[i.params.location.slotName]:i.params.location.slotName,moduleState:Hh[l]}}}return o},{}),a=e.reduce((o,i)=>{if(i.commandType==="loadLidStack"&&i.result!=null){const{result:l}=i,u=l.locationSequences,p=l.labwareIds,d=l.stackLabwareId,f=l.stackLocationSequence,_=m=>{if(c.locationIsOffDeck(m))return[m];if("slotName"in m)return[m.slotName];if("moduleId"in m){const h=n[m.moduleId]?.slot??"offDeck";return[m.moduleId,h]}else if("addressableAreaName"in m)return[m.addressableAreaName];return["offDeck"]};if(u!=null){const m=u.reduce((T,y)=>{const A=y.find(w=>w.kind==="onLabware");return A!=null&&(T[A.labwareId]=y),T},{}),h=p.reduce((T,y,A)=>{const w=m[y]??u[A];if(w!=null){const I=Yu(w);T[y]={stack:I[0]===y?I:[y,...I]}}else{const I=i.params.location;c.locationIsOffDeck(I)?T[y]={stack:[y,I]}:"slotName"in I?T[y]={stack:[y,I.slotName]}:T[y]={stack:[y,"offDeck"]}}return T},{}),b=d!=null&&f!=null?[d,...Yu(f)]:null;return{...o,...h,...d!=null&&b!=null?{[d]:{stack:b}}:{}}}else{const m=i.params.location,h=p.reduce((T,y)=>{if(c.locationIsOffDeck(m))T[y]={stack:[y,m]};else if("slotName"in m)T[y]={stack:[y,m.slotName]};else if("moduleId"in m){const A=m.moduleId;T[y]={stack:[y,A,n[A].slot]}}else T[y]={stack:[y,"offDeck"]};return T},{}),b=d!=null?[d,..._(m)]:null;return{...o,...h,...d!=null&&b!=null?{[d]:{stack:b}}:{}}}}else if((i.commandType==="loadLabware"||i.commandType==="loadLid")&&i.result!=null){const l=[i.result.labwareId];if(c.locationIsOffDeck(i.params.location))l.push(i.params.location);else if("slotName"in i.params.location)l.push(i.params.location.slotName);else if("moduleId"in i.params.location){const u=i.params.location.moduleId;if(n[u]==null)return console.warn(`Module ${u} not found when processing loadLabware/loadLid command. `),o;l.push(i.params.location.moduleId,n[i.params.location.moduleId].slot)}else if("labwareId"in i.params.location){const u=i.params.location.labwareId;o[u]==null&&(console.warn(`Parent labware ${u} not found when processing loadLabware/loadLid command. `),o[u]={stack:[u,"offDeck"]});const p=o[u].stack;l.push(u,...p)}else l.push(i.params.location.addressableAreaName);return{...o,[i.result.labwareId]:{stack:l}}}else{if(i.commandType==="flexStacker/setStoredLabware")return sh(i).forEach(u=>{ah(o,u,"setStoredLabwareCount")}),o;if(i.commandType==="flexStacker/fill")return sh(i).forEach(u=>{ah(o,u,"fillCount")}),o}return o},{}),s=Bc({invariantContext:t,labwareLocations:a,moduleLocations:n,pipetteLocations:r});return{frame:{...ip(e,t,s),command:e[e.length-1]},invariantContext:t}}const ah=(e,t,r)=>{const n=e[t]??{stack:[t,"offDeck"]};e[t]={...n,[r]:(n[r]??0)+1}},sh=e=>e.result?.storedLabware?.flatMap(r=>[r.primaryLabwareId,r.adapterLabwareId,r.lidLabwareId].filter(n=>n!=null))??[],lp=(e,t)=>e??(t.channels===1?c.SINGLE:t.channels===96?c.ALL:c.COLUMN);var Lu,oh;function fS(){if(oh)return Lu;oh=1;var e=Ac();function t(r,n){var a;return e(r,function(s,o,i){return a=n(s,o,i),!a}),!!a}return Lu=t,Lu}var Ou,ih;function mS(){if(ih)return Ou;ih=1;var e=t_(),t=Nn(),r=fS(),n=Qe(),a=Oc();function s(o,i,l){var u=n(o)?e:r;return l&&a(o,i,l)&&(i=void 0),u(o,t(i,3))}return Ou=s,Ou}var hS=mS();const Ba=xe(hS),Bn=(e,t)=>Ba(e,r=>r.moduleState.type===c.HEATERSHAKER_MODULE_TYPE&&r.moduleState.latchOpen!==!1&&c.getAreSlotsHorizontallyAdjacent(r.slot,t)),xn=(e,t,r)=>r.channels!==1&&Ba(e,n=>n.moduleState.type===c.HEATERSHAKER_MODULE_TYPE&&c.getAreSlotsHorizontallyAdjacent(n.slot,t)),xa=(e,t,r,n)=>r.channels!==1&&!n.def.parameters.isTiprack&&Ba(e,a=>a.moduleState.type===c.HEATERSHAKER_MODULE_TYPE&&c.getAreSlotsVerticallyAdjacent(a.slot,t)),Uy=(e,t,r)=>Ba(e,(a,s)=>c.getAreSlotsHorizontallyAdjacent(r,W(a.stack))&&c.getIsLabwareAboveHeight(t[s].def,c.MAX_LABWARE_HEIGHT_EAST_WEST_HEATER_SHAKER_MM)),Ha=(e,t,r)=>{const n=Fa(e,t[r]?.stack),a=n!=null?e[n].moduleState:null;return!!(a&&a.type===c.HEATERSHAKER_MODULE_TYPE&&a.latchOpen!==!1)},Hn=(e,t,r)=>Ba(e,n=>n.moduleState.type===c.HEATERSHAKER_MODULE_TYPE&&n.moduleState.targetSpeed!=null&&n.moduleState.targetSpeed>0&&(r===c.OT2_ROBOT_TYPE?c.getAreSlotsAdjacent(n.slot,t):c.getAreFlexSlotsAdjacent(n.slot,t))),za=(e,t,r)=>{const 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y=Object.entries(i).find(([S,{slot:g}])=>{const{type:k}=t.moduleEntities[S]??{};return k===c.FLEX_STACKER_MODULE_TYPE&&typeof a=="object"&&("moduleId"in a&&a.moduleId===S||"slotName"in a&&g===a.slotName)})??null,[I,w]=y??[];if(I!=null&&w!=null){const S=T.length>0?T:ba({slot:u,labwareState:l,modulesState:i}),g=S.indexOf(n),k=w.moduleState;if(g!==-1){const v=S.slice(0,g+1).toReversed();if(k.labwareOnShuttle==null&&(k.labwareOnShuttle={primaryLabwareId:"",adapterLabwareId:null,lidLabwareId:null}),v.length===3)for(let D=0;D<tr.length;D++){const q=tr[D];k.labwareOnShuttle[q]=v[D]}else if(v.length===2){const D=v.some(q=>t.labwareEntities[q].def.allowedRoles?.some(Q=>Q==="lid"))?["primaryLabwareId","lidLabwareId"]:["adapterLabwareId","primaryLabwareId"];for(let q=0;q<D.length;q++){const Q=D[q];k.labwareOnShuttle[Q]=v[q]}}else v.length===1&&(k.labwareOnShuttle.primaryLabwareId=v[0])}}const E=[];if(c.locationIsOffDeck(a))E.push(a);else if("moduleId"in a)if(i[a.moduleId].moduleState.type===c.FLEX_STACKER_MODULE_TYPE)E.push(i[a.moduleId].slot);else if(t.moduleEntities[a.moduleId]?.type===c.VACUUM_MODULE_TYPE){const S=i[a.moduleId].slot,g=ba({slot:S,labwareState:l,modulesState:i});g.length>0?E.push(...g):E.push(a.moduleId,S)}else E.push(a.moduleId,i[a.moduleId].slot);else if("slotName"in a){const{slotName:S}=a;S in l?(h=c.getIsPipettableLabware(s[S].def),E.push(...l[S].stack)):E.push(S)}else if("labwareId"in a){const S=a.labwareId;h=c.getIsPipettableLabware(s[S].def);const g=l[S].stack;E.push(...g)}else if("addressableAreaName"in a)if(Ia(a.addressableAreaName)){const S=Object.entries(i).find(([g])=>t.moduleEntities[g]?.type===c.VACUUM_MODULE_TYPE)?.[0];E.push(Ic),S!=null&&E.push(S),E.push(a.addressableAreaName)}else E.push(a.addressableAreaName);f.forEach((S,g)=>{if(l[S]!=null){const k=f.slice(g+1);o.labware[S]={...o.labware[S],stack:[S,...k,...E],...m&&h?{sterility:pc}:{}}}});const A=typeof a=="object"&&"labwareId"in 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Lw(e,t,r){const{pipetteId:n,labwareId:a,wellName:o}=e,{robotState:s}=r;s.pipettes[n]={...s.pipettes[n],entityId:a,wellName:o}}function Ow(e,t,r){const{pipetteId:n,labwareId:a,wellName:o}=e,s=t.pipetteEntities[n].spec,i=t.labwareEntities[a].def;if(!c.getIsTiprack(i))throw new Error(`forPickUpTip expected ${a} to be a tiprack`);const l=r.robotState.tipState,u=r.robotState.pipettes[n].nozzles,p=r.robotState.pipettes[n].primaryNozzle,d=yp(u,s),f=(_,b)=>_.find(T=>T.includes(b)),m=(_,b)=>{const T=_.findIndex(I=>I.includes(b));if(T===-1)return null;const y=_[T].indexOf(b);return _.map(I=>I[y])},h=(_,b)=>{const T=c.PARTIAL_NOZZLE_MAP[p],y=_.findIndex(L=>L.includes(b)),I=_[y].indexOf(b),w=_[y];if(w.length-I<T){const L=w.length-T;return w.slice(L,w.length)}const A=I+T;return w.slice(I,Math.min(A,w.length))};if(l.pipettes[n].hasTip=!0,l.pipettes[n].tiprackURI=a,d===c.SINGLE)l.tipracks[a][o]=de;else if(d===c.PARTIAL_COLUMN&&p){const _=h(i.ordering,o);_==null?console.error(`Invalid primary well for 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t=e.currentPumpActivity.ventAfter;return e.currentPumpActivity={type:"pumpDeactivated"},e.ventStatus=t?Ec:Ma,!0}return!1};function Zw(e,t,r){for(const n of e.task_ids)Gy(n,r)||r.warnings.push(wE())}const Gy=(e,t,r)=>{const{robotState:n}=t,a=Object.values(n.modules).find(o=>{if(r&&o.moduleState.type!==r)return!1;const s=o.moduleState.type==="thermocyclerModuleType"&&o.moduleState.currentBlockActivity.type==="profile"&&o.moduleState.currentBlockActivity.taskId===e,i=o.moduleState.type==="vacuumModuleType"&&(o.moduleState.currentPumpActivity.type==="timedHold"||o.moduleState.currentPumpActivity.type==="profile")&&o.moduleState.currentPumpActivity.taskId===e;return s||i});return a==null?!1:a.moduleState.type==="thermocyclerModuleType"?$w(a.moduleState):a.moduleState.type==="vacuumModuleType"?Kw(a.moduleState):(console.log(`unexpected module type with task: ${a.moduleState.type}`),!1)},xn=(e,t)=>{const r=vt(e,t);return r.type===c.HEATERSHAKER_MODULE_TYPE?r:(console.error(`Heater-Shaker 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Wy(e,t){e.type===c.MAGNETIC_MODULE_TYPE&&(e.engaged=t)}function oS(e,t,r){const{moduleId:n}=e,{robotState:a}=r,o=vt(a,n);Wy(o,!0)}function sS(e,t,r){const{moduleId:n}=e,{robotState:a}=r,o=vt(a,n);Wy(o,!1)}const Cu=(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},Yy=(e,t,r,n)=>{const a=e.labwareInHopper??[];t.forEach(o=>{const{primaryLabwareId:s,adapterLabwareId:i,lidLabwareId:l}=o;r.labware[s]={stack:[s,...l!=null?[l]:[],...n]},i!=null&&(r.labware[i]={stack:[i,s,...l!=null?[l]:[],...n]}),l!=null&&(r.labware[l]={stack:[l,...n]}),a.push({primaryLabwareId:s,adapterLabwareId:i??null,lidLabwareId:l??null})}),e.labwareInHopper=a},Ky=(e,t,r,n,a,o,s,i)=>{const u=Object.entries(e.labware).filter(([d,f])=>f[o]===t[o]).map(([d])=>d).map(d=>r[d]),p=[];for(let d=0;d<n;d++){const 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b of s){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 m=[et,o,i];for(const b of f){const T=[b.adapterLabwareId,b.primaryLabwareId,b.lidLabwareId,...m].filter(I=>I!=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 I of T)a[I]!=null&&(y==null?n.labware[I].stackedOnNode={kind:"inStackerHopper",moduleId:o}:n.labware[I].stackedOnNode={labwareId:y},y=I)}const h=l.labwareInHopper??[],_=f.map(({primaryLabwareId:b,adapterLabwareId:T,lidLabwareId:y})=>({primaryLabwareId:b,adapterLabwareId:T,lidLabwareId:y}));l.labwareInHopper=[...h,..._]},uS=(e,t,r)=>{const{robotState:n}=r,{labwareEntities:a}=t,{moduleId:o,primaryLabware:s,initialCount:i,adapterLabware:l,lidLabware:u,initialStoredLabware:p}=e,d=n.modules[o].slot,f=_t(n,o),m=[et,o,d];f!=null&&(f.storedLabwareDetails={primaryLabwareURI:`${s.namespace}/${s.loadName}/${s.version}`,adapterLabwareURI:l!=null?`${l.namespace}/${l.loadName}/${l.version}`:null,lidLabwareURI:u!=null?`${u.namespace}/${u.loadName}/${u.version}`:null},i!=null?Ky(n,f,a,i,m,"setStoredLabwareCount",l?.loadName,u?.loadName):p!=null&&Yy(f,p,n,m),f.setStoredLabwareCount=(f?.setStoredLabwareCount??0)+1)},cS=(e,t,r)=>{const{robotState:n}=r,{moduleId:a,labware:o}=e,{labwareEntities:s}=t,i=n.modules[a].slot,l=_t(n,a);if(l==null)return;const u=o.map(E=>E.split(":")[1]),p=new Set(u),d=Array.from(p),f=d.find(E=>Object.values(s).find(A=>A.labwareDefURI===E&&!A.def.allowedRoles?.includes("lid")&&!A.def.allowedRoles?.includes("adapter"))),m=d.find(E=>Object.values(s).find(A=>A.labwareDefURI===E&&A.def.allowedRoles?.includes("adapter"))),h=d.find(E=>Object.values(s).find(A=>A.labwareDefURI===E&&A.def.allowedRoles?.includes("lid")));if(f==null)throw new Error(`expected to find primaryLabwareURI for storedLabwareDetails but could not with labware ${o}`);l.storedLabwareDetails={primaryLabwareURI:f,adapterLabwareURI:m??null,lidLabwareURI:h??null};const _=[];for(const E of o){const A=s[E].labwareDefURI;if(A===f)_.push({primary:E,adapter:null,lid:null});else if(A===m){const L=_[_.length-1];L&&(L.adapter=E)}else if(A===h){const L=_[_.length-1];L&&(L.lid=E)}}const b=[et,a,i];for(const E of _){const A=[E.adapter,E.primary,E.lid,...b].filter(L=>L!=null);n.labware[E.primary]={...n.labware[E.primary],stack:A.slice(A.indexOf(E.primary))},E.adapter!=null&&(n.labware[E.adapter]={...n.labware[E.adapter],stack:A.slice(A.indexOf(E.adapter))}),E.lid!=null&&(n.labware[E.lid]={...n.labware[E.lid],stack:A.slice(A.indexOf(E.lid))})}const T=l.labwareInHopper??[],y=_.map(E=>({primaryLabwareId:E.primary,adapterLabwareId:E.adapter,lidLabwareId:E.lid})),I=new Map(T.map(E=>[E.primaryLabwareId,E])),w=[];for(const E of y)w.push(E),I.delete(E.primaryLabwareId);for(const E of T)I.has(E.primaryLabwareId)&&w.push(E);l.labwareInHopper=w},pS=(e,t,r)=>{const{robotState:n}=r,{moduleId:a,count:o,labwareToStore:s}=e,{labwareEntities:i}=t,l=n.modules[a].slot,u=_t(n,a),p=[et,a,l];if(u!=null){const d=u.storedLabwareDetails?.adapterLabwareURI,f=u.storedLabwareDetails?.lidLabwareURI;o!=null?Ky(n,u,i,o,p,"fillCount",d,f):s!=null&&Yy(u,s,n,p),u.fillCount=(u?.fillCount??0)+1}},dS=(e,t,r)=>{const{robotState:n}=r,{moduleId:a}=e,o=_t(n,a),s=n.modules[a].slot;if(o!=null){const{labwareInHopper:i,labwareOnShuttle:l}=o;if(i!=null&&i.length>0&&l==null){const u=i[0];o.labwareOnShuttle=u,i.shift();const p=[s];let d=null;for(const f of tr){const m=u[f];if(m!=null){if(p.unshift(m),n.labware[m].stack=[...p],d==null){const h=Fo(s);h!=null?n.labware[m].stackedOnNode={addressableAreaName:h}:console.warn(`Could not find an addressable area for retrieved labware in stacker module ${a} at slot ${s}`)}else n.labware[m].stackedOnNode={labwareId:d};d=m}}}}},fS=(e,t,r)=>{const{robotState:n}=r,{moduleId:a}=e,o=_t(n,a),s=n.modules[a].slot;if(o!=null){const{labwareOnShuttle:i}=o;if(i!=null){o.labwareInHopper=[i,...o.labwareInHopper??[]],o.labwareOnShuttle=null;let l=null;for(const u of tr){const 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getNextRobotStateAndWarning");switch(e.commandType){case"aspirateWhileTracking":case"aspirate":case"aspirateInPlace":if(e.meta?.isAirGap===!0)break;Lg(e.params,t,r);break;case"airGapInPlace":pg(e.params,t,r);break;case"dispenseWhileTracking":case"dispense":case"dispenseInPlace":if(e.meta?.isAirGap===!0)break;vg(e.params,t,r);break;case"blowout":Og(e.params,t,r);break;case"dropTip":kg(e.params,t,r);break;case"pickUpTip":Ow(e.params,t,r);break;case"setTipState":vw(e.params,t,r);break;case"magneticModule/engage":oS(e.params,t,r);break;case"magneticModule/disengage":sS(e.params,t,r);break;case"moveLabware":Sw(e.params,t,r);break;case"waitForTasks":Zw(e.params,t,r);break;case"flexStacker/setStoredLabware":uS(e.params,t,r);break;case"flexStacker/setStoredLabwareItems":cS(e.params,t,r);break;case"flexStacker/prepareShuttle":case"flexStacker/closeLatch":case"flexStacker/openLatch":break;case"flexStacker/empty":iS(e.params,t,r);break;case"flexStacker/fill":pS(e.params,t,r);break;case"flexStacker/fillItems":lS(e.params,t,r);break;case"flexStacker/retrieve":dS(e.params,t,r);break;case"flexStacker/store":fS(e.params,t,r);break;case"setRailLights":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":Aw(e.params,t,r);break;case"moveToWell":Lw(e.params,t,r);break;case"loadLiquid":Pg(e.params,t,r);break;case"dropTipInPlace":aS(e.params,t,r);break;case"blowOutInPlace":nS(e.params,t,r);break;case"configureNozzleLayout":Rg(e.params,t,r);break;case"temperatureModule/setTargetTemperature":mS(e.params,t,r);break;case"temperatureModule/deactivate":_S(e.params,t,r);break;case"temperatureModule/waitForTemperature":hS(e.params,t,r);break;case"thermocycler/setTargetBlockTemperature":kw(e.params,t,r);break;case"thermocycler/setTargetLidTemperature":Pw(e.params,t,r);break;case"thermocycler/waitForBlockTemperature":Nw(e.params);break;case"thermocycler/waitForLidTemperature":Cw(e.params);break;case"thermocycler/deactivateBlock":Mw(e.params,t,r);break;case"thermocycler/deactivateLid":Fw(e.params,t,r);break;case"thermocycler/closeLid":Uw(e.params,t,r);break;case"thermocycler/openLid":qw(e.params,t,r);break;case"thermocycler/runProfile":Vw(e.params,t,r);break;case"thermocycler/runExtendedProfile":zy(e.params,t,r);break;case"thermocycler/startRunExtendedProfile":jy(e.params,t,r);break;case"thermocycler/awaitProfileComplete":Dw(e.params);break;case"heaterShaker/deactivateHeater":Qw(e.params,t,r);break;case"heaterShaker/setTargetTemperature":Xw(e.params,t,r);break;case"heaterShaker/setAndWaitForShakeSpeed":case"heaterShaker/setShakeSpeed":Jw(e.params,t,r);break;case"heaterShaker/deactivateShaker":eS(e.params,t,r);break;case"heaterShaker/openLabwareLatch":tS(e.params,t,r);break;case"heaterShaker/closeLabwareLatch":rS(e.params,t,r);break;case"heaterShaker/waitForTemperature":break;case"absorbanceReader/openLid":lg(e.params,t,r);break;case"absorbanceReader/closeLid":ug(e.params,t,r);break;case"absorbanceReader/initialize":cg(e.params,t,r);break;case"absorbanceReader/read":break;case"vacuumModule/startSetVacuumPressure":jw(e.params,t,r);break;case"vacuumModule/startSetVacuumPower":Gw(e.params,t,r);break;case"vacuumModule/openVent":Hw(e.params,t,r);break;case"vacuumModule/closeVent":zw(e.params,t,r);break;case"vacuumModule/stopVacuum":Ww(e.params,t,r);break;case"vacuumModule/startRunProfile":Yw(e.params,t,r);break;default:console.error(`unknown command: ${e.commandType} passed to getNextRobotStateAndWarning`)}}function Qy(e,t,r){return Ny({warnings:[],robotState:r},a=>{Xy(e,t,a)})}function _p(e,t,r){const n=Cy(e);return Ny({warnings:[],robotState:r},o=>{n.forEach(s=>{Xy(s,t,o)})})}const yS=(e,t,r)=>{const n=e.reduce((a,o,s)=>{const i=a.timeline.length===0?r:np(a.timeline).robotState;if(a.errors!=null)return a;const l=o(t,i);if("errors"in l)return{timeline:a.timeline,errors:l.errors};const p=Cy(l.commands).reduce((f,m)=>Qy(m,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}},Hn=(e,t)=>{const r=t[e]?.stack;return r!=null?K(r):""},zn=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},jn=e=>{const{pipette:t,labware:r,invariantContext:n,prevRobotState:a}=e;if(n.config.OT_PD_DISABLE_MODULE_RESTRICTIONS)return!1;const o=t?n.pipetteEntities[t]:null,s=r?K(a.labware[r]?.stack):null;if(!t||!r||!o||!s)return!1;const i=Object.keys(n.moduleEntities).some(l=>{const u=n.moduleEntities[l].model;if(Hh.includes(u)){const p=a.modules[l]?.slot;return p==="1"&&s==="4"||p==="3"&&s==="6"}else return!1});return c.GEN_ONE_MULTI_PIPETTES.includes(o.name)&&i},le=(e,t,r)=>{const n=e.reduce((a,o)=>{if(a.errors.length>0)return a;const s=o(t,a.robotState);if("errors"in s)return{robotState:a.robotState,commands:a.commands,errors:s.errors,warnings:a.warnings};const i=[...a.commands,...s.commands],l=[...a.python?[a.python]:[],...s.python?[s.python]:[]].join(`
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wS(e,t,r){const{labware:n,modules:a,pipettes:o,commands:s,liquids:i}=e,l=t.protocolType==="python"?t.apiVersion:null,u=l!=null&&l[0]>=ES&&l[1]>=gS,p=t.protocolType==="json"&&r>=IS,d=c.getLabwareDefinitionsByURIForProtocol(s),f=i.reduce((y,I)=>{const{id:w,description:E,displayName:A,displayColor:L}=I;return{...y,[w]:{description:E,displayName:A??"Unknown Liquid",pythonName:"n/a",displayColor:L??"#B7B8B9",liquidGroupId:w}}},{}),m=a.reduce((y,I)=>{const{id:w,model:E}=I;return{...y,[w]:{id:w,type:c.getModuleType(E),model:E,pythonName:"n/a"}}},{}),h=n.reduce((y,I)=>{const{id:w,definitionUri:E}=I,A=d[E];return A==null||A.schemaVersion===3?y:{...y,[w]:{id:w,labwareDefURI:E,def:A,pythonName:"n/a"}}},{}),_=s.reduce((y,I)=>{if(I.commandType==="loadLidStack"&&I.result!=null){const{stackLabwareId:w,lidStackDefinition:E}=I.result;if(w!=null&&E!=null&&y[w]==null&&E.schemaVersion!==3)return{...y,[w]:{id:w,labwareDefURI:c.getLabwareDefURI(E),def:E,pythonName:"n/a"}}}return y},h),b=o.reduce((y,I)=>{const{id:w,pipetteName:E}=I,A=c.getPipetteSpecsV2(E),S=s.filter(v=>v.commandType==="pickUpTip"&&v.params.pipetteId===w).map(v=>_[v.params.labwareId]),g=Array.from(new Set(S.map(v=>v.labwareDefURI))),k=Array.from(new Set(S.map(v=>v.def)));return A==null||(y[w]={name:E,id:w,tiprackLabwareDef:k,tiprackDefURI:g,spec:A,pythonName:"n/a"}),y},{}),T=s.reduce((y,I)=>{if(I.commandType==="loadLidStack"&&I.result!=null){const{params:w}=I,E=nc(w);return{...y,stagingAreaEntities:{...y.stagingAreaEntities,...E}}}else if((I.commandType==="loadLabware"||I.commandType==="loadLid")&&I.result!=null){const{params:w}=I,E=nc(w);return{...y,stagingAreaEntities:{...y.stagingAreaEntities,...E}}}else if(I.commandType==="moveToAddressableArea"||I.commandType==="moveToAddressableAreaForDropTip"){const w=I.params.addressableAreaName,E=`${M()}:${w}`;let A=Jh;w==="fixedTrash"?A="cutout12":w.includes("WasteChute")?A="cutoutD3":w.includes("movableTrash")&&(A=`cutout${w.split("movableTrash")[1]}`);let L=y.trashBinEntities;Object.values(y.trashBinEntities).some(g=>g.location===A)||(w.includes("movableTrash")?L={...y.trashBinEntities,[E]:{pythonName:"trash_bin_1",id:E,location:A}}:w==="fixedTrash"&&(L={...y.trashBinEntities,[E]:{pythonName:"trash_bin_1",id:E,location:A}}));let S=y.wasteChuteEntities;return w.includes("WasteChute")&&(S={[E]:{pythonName:"waste_chute",id:E,location:A}}),{...y,trashBinEntities:L,wasteChuteEntities:S}}return y},{wasteChuteEntities:{},trashBinEntities:{},stagingAreaEntities:{},runtimeParameters:{},gripperEntities:{},config:{OT_PD_DISABLE_MODULE_RESTRICTIONS:!0}});return{labwareEntities:_,pipetteEntities:b,moduleEntities:m,liquidEntities:u||p?f:{},...T}}const SS={A3:"A4",B3:"B4",C3:"C4",D3:"D4"};function AS(e,t){const r=e.reduce((s,i)=>i.commandType==="loadPipette"&&i.result!=null?{...s,[i.result.pipetteId]:{mount:i.params.mount}}:s,{}),n=e.reduce((s,i)=>{if(i.commandType==="loadModule"&&i.result!=null){const l=c.getModuleDef(i.params.model).moduleType;return{...s,[i.result.moduleId]:{slot:l===c.FLEX_STACKER_MODULE_TYPE?SS[i.params.location.slotName]:i.params.location.slotName,moduleState:Qh[l]}}}return s},{}),a=e.reduce((s,i)=>{if(i.commandType==="loadLidStack"&&i.result!=null){const{result:l}=i,u=l.locationSequences,p=l.labwareIds,d=l.stackLabwareId,f=l.stackLocationSequence,m=h=>{if(c.locationIsOffDeck(h))return[h];if("slotName"in h)return[h.slotName];if("moduleId"in h){const _=n[h.moduleId]?.slot??"offDeck";return[h.moduleId,_]}else if("addressableAreaName"in h)return[h.addressableAreaName];return["offDeck"]};if(u!=null){const h=u.reduce((T,y)=>{const I=y.find(w=>w.kind==="onLabware");return I!=null&&(T[I.labwareId]=y),T},{}),_=p.reduce((T,y,I)=>{const w=h[y]??u[I];if(w!=null){const E=rc(w);T[y]={stack:E[0]===y?E:[y,...E]}}else{const E=i.params.location;c.locationIsOffDeck(E)?T[y]={stack:[y,E]}:"slotName"in E?T[y]={stack:[y,E.slotName]}:T[y]={stack:[y,"offDeck"]}}return T},{}),b=d!=null&&f!=null?[d,...rc(f)]:null;return{...s,..._,...d!=null&&b!=null?{[d]:{stack:b}}:{}}}else{const h=i.params.location,_=p.reduce((T,y)=>{if(c.locationIsOffDeck(h))T[y]={stack:[y,h]};else if("slotName"in h)T[y]={stack:[y,h.slotName]};else if("moduleId"in h){const I=h.moduleId;T[y]={stack:[y,I,n[I].slot]}}else T[y]={stack:[y,"offDeck"]};return T},{}),b=d!=null?[d,...m(h)]:null;return{...s,..._,...d!=null&&b!=null?{[d]:{stack:b}}:{}}}}else if((i.commandType==="loadLabware"||i.commandType==="loadLid")&&i.result!=null){const l=[i.result.labwareId];if(c.locationIsOffDeck(i.params.location))l.push(i.params.location);else if("slotName"in i.params.location)l.push(i.params.location.slotName);else if("moduleId"in i.params.location){const u=i.params.location.moduleId;if(n[u]==null)return console.warn(`Module ${u} not found when processing loadLabware/loadLid command. `),s;l.push(i.params.location.moduleId,n[i.params.location.moduleId].slot)}else if("labwareId"in i.params.location){const u=i.params.location.labwareId;s[u]==null&&(console.warn(`Parent labware ${u} not found when processing loadLabware/loadLid command. `),s[u]={stack:[u,"offDeck"]});const p=s[u].stack;l.push(u,...p)}else l.push(i.params.location.addressableAreaName);return{...s,[i.result.labwareId]:{stack:l}}}else{if(i.commandType==="flexStacker/setStoredLabware")return mh(i).forEach(u=>{fh(s,u,"setStoredLabwareCount")}),s;if(i.commandType==="flexStacker/fill")return mh(i).forEach(u=>{fh(s,u,"fillCount")}),s}return s},{}),o=Xc({invariantContext:t,labwareLocations:a,moduleLocations:n,pipetteLocations:r});return{frame:{..._p(e,t,o),command:e[e.length-1]},invariantContext:t}}const fh=(e,t,r)=>{const n=e[t]??{stack:[t,"offDeck"]};e[t]={...n,[r]:(n[r]??0)+1}},mh=e=>e.result?.storedLabware?.flatMap(r=>[r.primaryLabwareId,r.adapterLabwareId,r.lidLabwareId].filter(n=>n!=null))??[],yp=(e,t)=>e??(t.channels===1?c.SINGLE:t.channels===96?c.ALL:c.COLUMN);var Du,hh;function LS(){if(hh)return Du;hh=1;var e=Dc();function t(r,n){var a;return e(r,function(o,s,i){return a=n(o,s,i),!a}),!!a}return Du=t,Du}var Mu,_h;function OS(){if(_h)return Mu;_h=1;var e=m_(),t=qn(),r=LS(),n=tt(),a=Fc();function o(s,i,l){var u=n(s)?e:r;return l&&a(s,i,l)&&(i=void 0),u(s,t(i,3))}return Mu=o,Mu}var RS=OS();const Wa=Ge(RS),Gn=(e,t)=>Wa(e,r=>r.moduleState.type===c.HEATERSHAKER_MODULE_TYPE&&r.moduleState.latchOpen!==!1&&c.getAreSlotsHorizontallyAdjacent(r.slot,t)),Wn=(e,t,r)=>r.channels!==1&&Wa(e,n=>n.moduleState.type===c.HEATERSHAKER_MODULE_TYPE&&c.getAreSlotsHorizontallyAdjacent(n.slot,t)),Ya=(e,t,r,n)=>r.channels!==1&&!n.def.parameters.isTiprack&&Wa(e,a=>a.moduleState.type===c.HEATERSHAKER_MODULE_TYPE&&c.getAreSlotsVerticallyAdjacent(a.slot,t)),Jy=(e,t,r)=>Wa(e,(a,o)=>c.getAreSlotsHorizontallyAdjacent(r,K(a.stack))&&c.getIsLabwareAboveHeight(t[o].def,c.MAX_LABWARE_HEIGHT_EAST_WEST_HEATER_SHAKER_MM)),Ka=(e,t,r)=>{const n=xa(e,t[r]?.stack),a=n!=null?e[n].moduleState:null;return!!(a&&a.type===c.HEATERSHAKER_MODULE_TYPE&&a.latchOpen!==!1)},Yn=(e,t,r)=>Wa(e,n=>n.moduleState.type===c.HEATERSHAKER_MODULE_TYPE&&n.moduleState.targetSpeed!=null&&n.moduleState.targetSpeed>0&&(r===c.OT2_ROBOT_TYPE?c.getAreSlotsAdjacent(n.slot,t):c.getAreFlexSlotsAdjacent(n.slot,t))),Za=(e,t,r)=>{const n=xa(e,t[r]?.stack),a=n!=null?e[n].moduleState:null;return!!(a&&a.type===c.HEATERSHAKER_MODULE_TYPE&&a.targetSpeed!==null)},zo=e=>{const{args:t,pipetteName:r,tiprackUri:n,liquidClassValuesForTip:a}=e;let o=null;"mixBeforeAspirate"in t?o=t.mixBeforeAspirate:"mixFirstAspirate"in t&&(o=t.mixFirstAspirate);const s=vS(t),i={dispense_position:{offset:{x:t.dispenseXOffset,y:t.dispenseYOffset,z:t.dispenseZOffset},position_reference:t.dispensePositionReference},flow_rate_by_volume:[[0,t.dispenseFlowRateUlSec??0]],delay:{enabled:!!t.dispenseDelay?.seconds,...t.dispenseDelay?.seconds?{duration:t.dispenseDelay?.seconds}:{}},submerge:{delay:{enabled:!!t.dispenseSubmergeDelay?.seconds,...t.dispenseSubmergeDelay?.seconds?{duration:t.dispenseSubmergeDelay?.seconds}:{}},speed:t.dispenseSubmergeSpeed??void 0,start_position:{offset:{x:t.dispenseSubmergeXOffset,y:t.dispenseSubmergeYOffset,z:t.dispenseSubmergeZOffset},position_reference:t.dispenseSubmergePositionReference}},retract:{air_gap_by_volume:[[0,t.dispenseAirGapVolume??0]],delay:{enabled:!!t.dispenseRetractDelay?.seconds,...t.dispenseRetractDelay?.seconds?{duration:t.dispenseRetractDelay?.seconds}:{}},end_position:{offset:{x:t.dispenseRetractXOffset,y:t.dispenseRetractYOffset,z:t.dispenseRetractZOffset},position_reference:t.dispenseRetractPositionReference},speed:t.dispenseRetractSpeed??void 0,touch_tip:{enabled:t.touchTipAfterDispense,z_offset:t.touchTipAfterDispense?t.touchTipAfterDispenseOffsetMmFromTop:void 0,mm_from_edge:t.touchTipAfterDispense&&t.touchTipAfterDispenseMmFromEdge!=null?t.touchTipAfterDispenseMmFromEdge:void 0,speed:t.touchTipAfterDispense?t.touchTipAfterDispenseSpeed:void 0},blowout:{enabled:t.blowoutLocation!=null,location:eb(t.blowoutLocation),flow_rate:t.blowoutLocation!=null?t.blowoutFlowRateUlSec:void 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0}}},dispense:{...i,correction_by_volume:a?.singleDispense.correctionByVolume??[[0,0]],push_out_by_volume:[[0,t.pushOut??0]],mix:{enabled:"mixInDestination"in t?t.mixInDestination!=null:!1,repetitions:"mixInDestination"in t?t.mixInDestination?.times??void 0:void 0,volume:"mixInDestination"in t?t.mixInDestination?.volume??void 0:void 0}},...t.commandCreatorFnName==="distribute"?{multi_dispense:{...i,correction_by_volume:a?.multiDispense?.correctionByVolume??[[0,0]],..."conditioningVolume"in t?{conditioning_by_volume:[[0,t.conditioningVolume??0]]}:{},..."disposalVolume"in t?{disposal_by_volume:[[0,t.disposalVolume??0]]}:{}}}:{}}}},u=JSON.parse(JSON.stringify(l));return Vr(u)},Xa=(e,t)=>`${c.getAllLiquidClassDefs()[e].liquidClassName}${t?"_base_class":""}`,eb=e=>{if(e!=null)return e===Wr?"source":e===$n?"destination":"trash"},vS=e=>{const 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+`)}function ZS(e){function t(n){return n?new Date(n).toISOString():""}const r=Object.fromEntries(Object.entries({protocolName:e.protocolName,author:e.author,description:e.description,created:t(e.created),internalAppBuildDate:e.internalAppBuildDate,lastModified:t(e.lastModified),category:e.category,subcategory:e.subcategory,tags:e.tags?.length&&e.tags.join(", "),protocolDesigner:e.protocolDesigner,source:e.source}).filter(([n,a])=>a));return`metadata = ${Vr(r)}`}function XS(e){const r={robotType:{[c.OT2_ROBOT_TYPE]:"OT-2",[c.FLEX_ROBOT_TYPE]:"Flex"}[e],apiLevel:ab};return`requirements = ${Vr(r)}`}function ob(e,t){const r=Object.keys(e).length>0,n=r?Object.values(e).map(a=>`${a.pythonName} = ${we}.load_module(${C(a.model)}, ${C(t[a.id].slot)})`).join(`
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+`);return`${l} = ${b}.load_adapter(
+${Y(I)},
+)`}else{const I=[`${Co}[${C(c.getLabwareDefURI(i))}]`,...T?[T]:[]].join(`,
+`);return`${l} = ${b}.load_adapter_from_definition(
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+`),m=Y(f);return`lid_stack_${o} = ${we}.load_lid_stack(
+${m},
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-${G($)},
-)`]}else{const $=[`${As}[${N(c.getLabwareDefURI(d))}]`,...k?[k]:[],...v?[v]:[]].join(`,
+${Y(q)},
+)`]}else{const q=[`${Co}[${C(c.getLabwareDefURI(d))}]`,...k?[k]:[],...v?[v]:[]].join(`,
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-${G($)},
+${Y(q)},
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+${i}`:""}function ub(e,t){const r=Object.values(e).map(n=>{const{name:a,id:o,spec:s,pythonName:i}=n,l=s.channels===96?"":C(t[o].mount),u=c.isFlexPipette(a)?c.getFlexNameConversion(s):a;return`${i} = ${we}.load_instrument(${[C(u),...l?[l]:[]].join(", ")})`}).join(`
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-`);return`${n} = ${be}.define_liquid(
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+`);return`${n} = ${we}.define_liquid(
+${Y(i)},
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-`),_=[`wells=[${u.length<8?u.join(", "):`
+${t}`:""}function pb(e,t,r){const n=Object.entries(e).reduce((o,[s,i])=>{const l=r[s].pythonName;return Object.entries(i).forEach(([u,p])=>{Object.entries(p).forEach(([d,f])=>{const m=t[d].pythonName,h=`${l}__${m}__${f.volume}`;o[h]||(o[h]={labwarePythonName:l,liquidPythonName:m,volume:f.volume,wells:[]}),o[h].wells.push(u)})}),o},{}),a=Object.values(n).map(({labwarePythonName:o,liquidPythonName:s,volume:i,wells:l})=>{const u=l.map(h=>C(h)),d=Do(u,8).map(h=>Ba+h.join(", ")).join(`,
+`),m=[`wells=[${u.length<8?u.join(", "):`
 ${d}
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-liquid=${o},
+liquid=${s},
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-`].join();return`${s}.load_liquid(
-${G(_)})`}).join(`
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+${t}`:""}function mb(e){const t=Object.values(e)?.map(r=>`${r.pythonName} = ${we}.load_waste_chute()`);return t.length>0?`# Load Waste Chute:
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-`):"";function Jy(e){return`# PROTOCOL STEPS
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-`+e.timeline.map(t=>{const{stepInfo:r}=t,n=r?.description;return`# Step ${r?.stepNumber}: ${r?.name}${BS(n)}
+`+e.timeline.map(t=>{const{stepInfo:r}=t,n=r?.description;return`# Step ${r?.stepNumber}: ${r?.name}${eA(n)}
 ${t.python||"pass"}`}).join(`
 
-`)}function xS(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=[Hy(i,_),zy(i,l,m),jy(l,m),Gy(_,i,l,m,a),Wy(u,h),...s===c.FLEX_ROBOT_TYPE?[Zy(f),Qy(d)]:[],Yy(p),Ky(n,p,l),Xy(o),eb(i,l,m,_,r),Jy(r)].filter(y=>y).join(`
+`)}function tA(e,t,r,n,a,o,s){const{moduleEntities:i,labwareEntities:l,pipetteEntities:u,liquidEntities:p,wasteChuteEntities:d,trashBinEntities:f}=e,{modules:m,labware:h,pipettes:_}=t,T=[ob(i,m),sb(i,l,h),ib(l,h),lb(m,i,l,h,a),ub(u,_),...o===c.FLEX_ROBOT_TYPE?[fb(f),mb(d)]:[],cb(p),pb(n,p,l),db(s),_b(i,l,h,m,r),hb(r)].filter(y=>y).join(`
 
-`)||"pass";return`def run(${be}: protocol_api.ProtocolContext) -> None:
-${G(T)}`}function HS(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`${As} = json.loads("""${JSON.stringify(r)}""")`}else return""}const Us=e=>{switch(e){case"perDest":return"per destination";case"perSource":return"per source";default:return e}},eb=(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(Ze)),m=[...Object.entries(r),...f.flatMap(h=>Object.entries(h))].filter(([h,b])=>W(b.stack)===d&&!b.stack.includes(Ze));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(`,
+`)||"pass";return`def run(${we}: protocol_api.ProtocolContext) -> None:
+${Y(T)}`}function rA(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`${Co} = json.loads("""${JSON.stringify(r)}""")`}else return""}const Go=e=>{switch(e){case"perDest":return"per destination";case"perSource":return"per source";default:return e}},_b=(e,t,r,n,a)=>{const s=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(_=>_.robotState.labware),m=Object.entries(r).filter(([_,b])=>b.stack.includes(l)&&b.stack.includes(et)),h=[...Object.entries(r),...f.flatMap(_=>Object.entries(_))].filter(([_,b])=>K(b.stack)===d&&!b.stack.includes(et));if(m.length===0){if(h.length===0)return"";const _=h.find(([y])=>t[y].def.allowedRoles?.includes("lid")),b=h.find(([y])=>!t[y].def.allowedRoles?.includes("lid"));if(b==null)return"";const T=[`load_name=${C(t[b[0]].def.parameters.loadName)}`,`namespace=${C(t[b[0]].def.namespace)}`,`version=${t[b[0]].def.version}`,"count=0",..._!=null?[`lid=${C(t[_[0]].def.parameters.loadName)}`]:[]].join(`,
 `);return`${p}.set_stored_labware(
-${G(T)}
-)`}else{const h=Object.values(_).filter(w=>!t[w[0]]?.def.allowedRoles?.includes("lid")).map(w=>t[w[0]].pythonName),T=Os(h,4).map(w=>Ma+w.join(", ")).join(`,
-`),A=`labware=[${h.length<4?h.join(", "):`
+${Y(T)}
+)`}else{const _=Object.values(m).filter(w=>!t[w[0]]?.def.allowedRoles?.includes("lid")).map(w=>t[w[0]].pythonName),T=Do(_,4).map(w=>Ba+w.join(", ")).join(`,
+`),I=`labware=[${_.length<4?_.join(", "):`
 ${T}
 `}],
 `;return`${p}.set_stored_labware_items(
-${G(A)})`}}}).filter(Boolean);return o.length>0?`# Set Stored Labware:
-${o.join(`
-`).trimStart()}`:""},zS={boolean:"add_bool",int:"add_int",float:"add_float",string:"add_str",csv:"add_csv_file"};function jS(e){const t=Object.values(e).map(r=>{const n="choices"in r?r.choices:void 0,a={variable_name:r.variableName,display_name:r.displayName,description:r.description||void 0,default:r.type==="csv"?void 0:r.default,choices:n?.map(o=>({display_name:String(o),value:o})),..."minimum"in r?{minimum:r.minimum,maximum:r.maximum,unit:n==null?r.unit:void 0}:{}},s=Object.entries(a).filter(([,o])=>o!=null).map(([o,i])=>`${o}=${st(i)}`).join(`,
-`);return`parameters.${zS[r.type]}(
-${G(s)},
+${Y(I)})`}}}).filter(Boolean);return s.length>0?`# Set Stored Labware:
+${s.join(`
+`).trimStart()}`:""},nA={boolean:"add_bool",int:"add_int",float:"add_float",string:"add_str",csv:"add_csv_file"};function aA(e){const t=Object.values(e).map(r=>{const n="choices"in r?r.choices:void 0,a={variable_name:r.variableName,display_name:r.displayName,description:r.description||void 0,default:r.type==="csv"?void 0:r.default,choices:n?.map(s=>({display_name:String(s),value:s})),..."minimum"in r?{minimum:r.minimum,maximum:r.maximum,unit:n==null?r.unit:void 0}:{}},o=Object.entries(a).filter(([,s])=>s!=null).map(([s,i])=>`${s}=${or(i)}`).join(`,
+`);return`parameters.${nA[r.type]}(
+${Y(o)},
 )`}).join(`
 `);return t?`def add_parameters(parameters: protocol_api.ParameterContext) -> None:
-${G(t)}`:""}const GS=(e,t,r,n)=>{const{spec:a}=t,s=e===c.ROW,o=e===c.COLUMN||e===c.ALL&&a.channels===8,i=n.ordering[0].length===1;if(s&&i){const u=o?`H${r.slice(1)}`:`${r.charAt(0)}12`,p=a.nozzleMap[u],d=a.nozzleMap[r],f=p.map((h,b)=>h-d[b]),_=[f[0]/2,f[1]/2,0],m=d.map((h,b)=>h+_[b]);return{x:m[0],y:m[1],z:m[2]}}const l=a.nozzleMap[r];return{x:l[0],y:l[1],z:l[2]}},Tn={back_left:{x:-43.25,y:454.9,z:211.91},front_right:{x:128.75,y:402,z:211.91}},hh={x:Tn.back_left.x,y:Tn.back_left.y,z:Tn.back_left.z},WS={x:Tn.front_right.x,y:Tn.front_right.y,z:Tn.front_right.z},YS=49.5,tb=e=>{if(e.addressableArea?.areaType==="slot"){const t=`cutout${e.addressableArea?.id}`;if(t)return t}return null},KS=(e,t,r,n,a,s,o)=>{const{pipetteBoundingBoxOffsets:i}=e.spec,l=GS(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}]},rb=(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)},_h=(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},XS=e=>{const t=c.getDeckDefFromRobotType(e);return Object.values(t.cutoutFixtures).find(n=>c.WASTE_CHUTE_FIXTURES.includes(n.id))?.height??0},ZS=(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=ks(s,p),f=Object.keys(a).find(m=>a[m].slot===p);Object.values(l).find(m=>m.location===tb(r))&&(u+=XS(n)),d.length>0?d.forEach(m=>{a[m]!=null&&(u+=_h(o[m].model,n)),s[m]!=null&&(u+=i[m].def.dimensions.zDimension)}):f!=null&&(u+=_h(o[f].model,n))}return u},QS=(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 l={x:i[0],y:o.yDimension+i[1],z:i[2]},u={x:i[0]+o.xDimension,y:i[1],z:i[2]};if(rb([e[0],e[1]],[l,u])&&e[0].z!=null&&ZS(r,n,s,a)>=e[0]?.z&&s.addressableArea!=null)return{addressableAreaCausingCollision:s.addressableArea}}return null},JS=(e,t)=>Object.values(t).find(r=>r.type===c.THERMOCYCLER_MODULE_TYPE)?rb([hh,WS],[e[0],e[1]])&&e[0].x<=hh.z:!1,eA=(e,t,r,n)=>{const{wells:a}=e.def,s=a[t];return{x:s.x+r.x,y:s.y+r.y,z:n?s.z+(r.z??0):e.def.dimensions.zDimension}},ft=e=>{const{robotState:t,invariantContext:r,pipetteId:n,labwareId:a,wellLocationOffset:s={x:0,y:0,z:0},wellTargetName:o,primaryNozzle:i,nozzleConfiguration:l,tiprackId:u}=e,{pipetteEntities:p,labwareEntities:d,stagingAreaEntities:f,moduleEntities:_}=r,{labware:m,tipState:h}=t,b=p[n];if(b==null)return{isSafe:!0};const{spec:T}=b,{channels:y}=T,I=T?.displayCategory==="FLEX"?c.FLEX_ROBOT_TYPE:c.OT2_ROBOT_TYPE,S=c.getDeckDefFromRobotType(I);if(d[a]==null||o==null||y===1)return{isSafe:!0};const L=u?!0:h.pipettes[n]?.hasTip??!1,E=u??h.pipettes[n]?.tiprackURI,g=E!=null?d[E]:null,k=g!=null?g.def.parameters.tipLength:0,v=Object.values(f).map(P=>P.location),q=L?k??0:0,$=W(m[a].stack),ee=m[a].stack.some(P=>_[P]?.type===c.THERMOCYCLER_MODULE_TYPE),de=c.getDeckDefFromRobotType(c.FLEX_ROBOT_TYPE),Te=(ee?c.getPositionFromSlotId(c.B1_ADDRESSABLE_AREA,de):c.getPositionFromSlotId($,S))??[0,0,0],se=ee?de.locations.addressableAreas.find(P=>P.id===c.THERMOCYCLER_MODULE_V2)?.offsetFromCutoutFixture??[0,0,0]:[0,0,0],Ie={x:se[0]+Te[0],y:se[1]+Te[1],z:se[2]+Te[2]},{def:Pe}=d[a],He=ab({wellTargetName:o,primaryNozzle:i,nozzleConfiguration:l,specs:T,labwareDef:Pe}),Ve={x:s.x+He.x+Ie.x,y:s.y+He.y+Ie.y,z:(s.z??0)+(Ie.z??0)},te=eA(d[a],o,Ve,L),Se=g!=null?tA({pipetteSpecs:T,tiprackUri:g.labwareDefURI,nozzles:l}):0,ze=d[a].def,Ce=KS(b,q,te,ze,i,l,Se);if(!nA({channels:y,boundingBox:Ce,robotType:I}))return{isSafe:!1,reason:{type:"outsidePipetteExtents"}};const Y=(I===c.OT2_ROBOT_TYPE?c.getOt2SurroundingSlots($):c.getFlexSurroundingSlots($,v)).map(P=>{const V=c.getAddressableAreaFromSlotId(P,S),M=c.getPositionFromSlotId(P,S);return{addressableArea:V,position:M}});if(JS(Ce,_))return{isSafe:!1,reason:{type:"thermocyclerLidCollision"}};const C=QS(Ce,Y,t,r,I);return C!=null?{isSafe:!1,reason:{type:"adjacentAdressableAreaCollision",addressableAreaCausingCollision:C.addressableAreaCausingCollision}}:{isSafe:!0}},up=e=>{const{tipState:t,primaryNozzle:r,channels:n,nozzleConfiguration:a,wellName:s,tiprackDef:o,tipsToIgnore:i=[]}=e,{ordering:l}=o;if(n===1)return{isSafe:!0,isComplete:t[s]!==ue};if(n===8){const u=r!==c.A1_NOZZLE,p=nc(s),d=l[p],f=u?[...d].reverse():d;if(a===c.SINGLE){const _=f.indexOf(s);return{isSafe:f.slice(_+1).every(m=>t[m]===ue||i.includes(m)),isComplete:t[s]!==ue}}if(a===c.PARTIAL_COLUMN){const _=f.indexOf(s),m=c.PARTIAL_NOZZLE_MAP[r],h=u?f.slice(_-m+1,_+1):f.slice(_,_+m);return{isSafe:f.slice(_+1).every(b=>t[b]===ue||i.includes(b)),isComplete:h.every(b=>t[b]!==ue&&!i.includes(b))}}return{isSafe:!0,isComplete:f.every(_=>t[_]!==ue)}}if(a===c.ALL)return{isSafe:!0,isComplete:Object.keys(o.wells).every(u=>t[u]!==ue)};if(a===c.COLUMN){const u=r===c.A12_NOZZLE,p=nc(s),d=l[p],f=u?[...l].reverse():l,_=f.indexOf(d);return{isSafe:f.slice(_+1).flat().every(m=>t[m]===ue||i.includes(m)),isComplete:f[_].every(m=>t[m]!==ue)}}if(a===c.ROW){const u=l[0].map((_,m)=>l.map(h=>h[m])),d=r===c.H1_NOZZLE?[...u].reverse():u,f=d.findIndex(_=>_.some(m=>m===s));return{isSafe:d.slice(f+1).flat().every(_=>t[_]===ue||i.includes(_)),isComplete:d[f].every(_=>t[_]!==ue)}}if(a===c.SINGLE){const u=gn(r??cs({nozzles:a,channels:n})),p=cp(r??cs({nozzles:a,channels:n})),d=u==="H",_=p==="12"?[...l].reverse():l,m=_.findIndex(h=>h.some(b=>b===s));return{isSafe:_.slice(m).every(h=>{const b=d?[...h].reverse():h,T=b.findIndex(y=>gn(y)===gn(s));return b.slice(T).every(y=>t[y]===ue||i.includes(y)||y===s)}),isComplete:t[s]!==ue}}return{isSafe:!1}},gn=e=>e.slice(0,1),cp=e=>e.slice(1),nc=e=>parseInt(e.slice(1))-1,cs=e=>{const{nozzles:t,channels:r}=e;if(r===8&&t===c.SINGLE)return"H1";if(r===96){if(t===c.COLUMN)return"A12";if(t===c.SINGLE)return"H12"}return"A1"},Ga=e=>{const{wellSets:t,nozzles:r,channels:n,primaryNozzle:a}=e;return r===c.ROW?t.map(s=>s[0]):t.map(s=>n===96&&r===c.ALL?a:r===c.COLUMN||n===8&&r===c.ALL||n===8&&r===c.PARTIAL_COLUMN?gn(a)==="H"?s[s.length-1]:s[0]:(console.assert(s.length===1,"Well set for SINGLE nozzle configuration should have exactly 1 well"),s[0]))},tA=e=>{const{pipetteSpecs:t,tiprackUri:r,nozzles:n}=e,{channels:a}=t,s=rA(a,n),o=t.pickUpTipConfigurations.pressFit.configurationsByNozzleMap[s]?.default.tipOverlaps;if(o==null)return console.error(`No tip overlaps found for ${n} and ${s} overlap.`),0;const i=Math.max(...Object.keys(o).map(l=>Number(l.slice(1))));return o[`v${i}`]?.[r]??o[`v${i}`]?.default??0},rA=(e,t)=>{if(e===1)return"SingleA1";if(e===8)return t===c.SINGLE?"SingleH1":"Full";if(e===96){if(t===c.SINGLE)return"SingleH12";if(t===c.COLUMN)return"Column12";if(t===c.ROW)return"RowA"}return"Full"},nA=e=>{const{channels:t,boundingBox:r,robotType:n}=e,a=c.getRobotDefFromRobotType(n),{paddingOffsets:s}=a,{front:o,rear:i,leftSide:l,rightSide:u}=s,[p,d]=a.extents,[f,_]=r,{x:m,y:h}=f,{x:b,y:T}=_;if(t===96){if(b<l)return!1;const y=p+u;if(m>y)return!1}if(t!==1){if(h<o)return!1;const y=d+i;if(T>y)return!1}return!0},nb=e=>{const{channels:t,nozzleMap:r}=e;if(t===1)return 0;const[n,a]=["A1","B1"].map(o=>r[o][1]);return Math.abs(n-a)},ab=e=>{const t=aA(e),r=sA(e);return{x:t,y:r}},aA=e=>{const{primaryNozzle:t,nozzleConfiguration:r,specs:n,labwareDef:a}=e,{channels:s}=n;if(s!==96)return 0;const{ordering:o}=a,i=o.length===1;if(!i)return 0;let l;const u=cp(t)==="12"?1:-1;if(r===c.ALL&&s===96||r===c.ROW)l=12;else if(r===c.QUADRANT)l=6;else return u*YS;const p=nb(n);return i?(l-1)*p/2*u:0},sA=e=>{const{wellTargetName:t,primaryNozzle:r,nozzleConfiguration:n,specs:a,labwareDef:s}=e,{channels:o}=a;if(o===1)return 0;const i=nb(a),{ordering:l}=s,u=l.findIndex(f=>f.includes(t));if(l[u].length!==1)return 0;if(n===c.PARTIAL_COLUMN){const _=-1*(8-c.PARTIAL_NOZZLE_MAP[r])*i,m=7*i/2;return _+m}const d=gn(r)==="H"?-1:1;return 7*i/2*d};function sb(e){const t=e.length===1?e[0]:null;return t!=null&&"steps"in t?{numRepetitions:t.repetitions,repeatingProfileSteps:t.steps}:{numRepetitions:1,repeatingProfileSteps:pp(e)}}function pp(e){return e.flatMap(t=>"steps"in t?K_(t.steps,t.repetitions):t)}const oA=e=>{switch(e.commandCreatorFnName){case"consolidate":return O(_b,e);case"delay":return O(me,e);case"waitForModuleTask":return O(Lb,e);case"distribute":return O(yb,e);case"transfer":return O(Ib,e);case"mix":return O(hb,e);case"moveLabware":return O(N_,e);case"captureImage":return O(w_,e);case"engageMagnet":return O(R_,e);case"disengageMagnet":return O(O_,e);case"setTemperature":return O(Pc,e);case"deactivateTemperature":return O(L_,e);case"waitForTemperature":return O(Fc,e);case"thermocyclerProfile":return O(Tb,e);case"thermocyclerState":return O(gb,e);case"heaterShaker":return O(bb,e);case"comment":return O(S_,e);case"absorbanceReaderOpenLid":return O(I_,e);case"absorbanceReaderCloseLid":return O(ws,e);case"absorbanceReaderRead":return O(ub,e);case"absorbanceReaderInitialize":return O(lb,e);case"flexStackerEmpty":return O(k_,{...e,strategy:"manualWithPause"});case"flexStackerFillItems":return O(v_,e);case"flexStackerRetrieve":return O(P_,e);case"flexStackerStore":return O(C_,{...e,strategy:"automatic"});case"vacuumCloseVent":return O(Da,e);case"vacuumOpenVent":return O(M_,e);case"vacuumSetPumpPower":return O(Nc,e);case"vacuumSetPumpPressure":return O(Dc,e);case"vacuumStartRunProfile":return O(Mc,e);case"vacuumStopPump":return O(U_,e);case"vacuumCloseVentSetPumpPressure":return O(wb,e);case"vacuumCloseVentSetPumpPower":return O(Eb,e);case"vacuumCloseVentStartProfile":return O(Sb,e);case"airGapInPlace":return O(At,e);case"aspirate":return O(At,e);case"aspirateInPlace":return O(Na,e);case"aspirateWhileTracking":return O(fI,e);case"blowOutInPlace":return O(Dn,e);case"blowout":return O(Rc,e);case"configureForVolume":return O(An,e);case"configureNozzleLayout":return O(A_,e);case"dispense":return O(kc,e);case"dispenseInPlace":return O(Xe,e);case"dispenseWhileTracking":return O(mI,e);case"dropTip":return O(Hr,e);case"dropTipInPlace":return O(Ss,e);case"home":return O(hI,e);case"moveRelative":return O(_I,e);case"moveToAddressableArea":return O(Fe,e);case"moveToAddressableAreaForDropTip":return O(vc,e);case"moveToCoordinates":return O(yI,e);case"moveToWell":return O(B,e);case"pickUpTip":return O(ss,e);case"prepareToAspirate":return O(Lt,e);case"touchTip":return O(Et,e);case"tryLiquidProbe":return O(bI,e);case"heaterShaker/closeLabwareLatch":return O(q_,e);case"heaterShaker/openLabwareLatch":return O($_,e);case"heaterShaker/setAndWaitForShakeSpeed":return O(V_,e);case"heaterShaker/deactivateHeater":return O(Gu,e);case"heaterShaker/deactivateShaker":return O(Wu,e);case"thermocycler/closeLid":return O(Uc,e);case"thermocycler/openLid":return O(H_,e);case"thermocycler/deactivateBlock":return O(B_,e);case"thermocycler/deactivateLid":return O(x_,e);case"thermocycler/setTargetBlockTemperature":return O(z_,e);case"thermocycler/setTargetLidTemperature":return O(qc,e);case"thermocycler/startRunExtendedProfile":return O(D_,e)}},D=DT;function ob(e){return Object.keys(e).sort((r,n)=>{const a=W(e[r].stack),s=W(e[n].stack),o=parseInt(a),i=parseInt(s);return ve.includes(a)&&ve.includes(s)?r.localeCompare(n):ve.includes(a)?1:ve.includes(s)?-1:o-i})}function ib(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 ${t} missing channels/spec or tiprack definition`),null;const p=g=>u[g]===Ra,d=c.orderWells(l.ordering,"t2b","l2r"),f=c.orderWells(l.ordering,"b2t","l2r"),_=g=>g.find(p)??null,m=g=>[...g].reverse().find(p)??null,h=g=>g.find(k=>k.every(p))??null,b=g=>[...g].reverse().find(k=>k.every(p))??null,T=i===8&&s===c.SINGLE,y=T&&o===c.H1_NOZZLE,A=T&&o===c.A1_NOZZLE,w=i===96&&s===c.SINGLE,I=w&&o===c.H12_NOZZLE,S=w&&o===c.A12_NOZZLE,L=w&&o===c.H1_NOZZLE,E=w&&o===c.A1_NOZZLE;if(i===1||y||I)return _(d);if(A)return _(f);if(s===c.PARTIAL_COLUMN){const g=_(d);if(!g)return null;const k=d.indexOf(g);return d[k]??null}if(s===c.ALL&&i===8)return h(l.ordering)?.[0]??null;if(E)return m(d);if(S)return _(f);if(L)return m(f);if(s===c.COLUMN){const g=l.ordering;return(o===c.A1_NOZZLE?b(g):h(g))?.[0]??null}if(s===c.ROW){const g=l.ordering,k=g[0].map((q,$)=>g.map(ee=>ee[$]));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 ${t}`),null)}function Wa(e,t,r,n,a,s){const o=r.pipetteEntities[e];if(!o)throw new Error(`cannot getNextTiprack, no pipette entity for pipette "${e}"`);const i=[],l=ob(n.labware).filter(m=>{console.assert(r.labwareEntities[m]?.labwareDefURI!=null,`cannot getNextTiprack, no labware entity for "${m}"`);const h=W(n.labware[m].stack),b=ly(h),T=iy({labwareId:m,labwareRobotState:n.labware,labwareEntities:r.labwareEntities});if(b&&T&&c.getIsTiprack(r.labwareEntities[m].def))return i.push(m),!1;const y=r.labwareEntities[m].labwareDefURI;return b&&y===t});let u=l;const p=o.spec.channels===96,d=[];p&&(u=u.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||d.push(m),y}));let f=null,_=null;for(const m of u){const h=ib({pipetteId:e,tiprackId:m,nozzles:s,invariantContext:r,robotState:n,primaryNozzle:a}),{isSafe:b}=h!=null?ft({robotState:n,invariantContext:r,pipetteId:e,labwareId:m,wellTargetName:h,primaryNozzle:a,nozzleConfiguration:s}):{isSafe:!1},{isSafe:T,isComplete:y=!1}=h!=null?up({tipState:n.tipState.tipracks[m],primaryNozzle:a,channels:o.spec.channels,nozzleConfiguration:s,wellName:h,tiprackDef:r.labwareEntities[m].def}):{isSafe:!1};if(h&&b&&T&&y){f=m,_=h;break}}return f&&_?{nextTiprack:{tiprackId:f,well:_},tipracks:{totalTipracks:l.length,excludedBy96Channel:d.length,excludedByLid:i.length,filteredSortedTiprackIds:u}}:{nextTiprack:null,tipracks:{totalTipracks:l.length,excludedBy96Channel:d.length,excludedByLid:i.length,filteredSortedTiprackIds:u}}}function qs(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',
-      ${a}, ${i}`),NaN):_T([i,a])??NaN}function Ot(e,t){return t in e.modules||console.warn(`getModuleState expected module id "${t}" to be in robot state`),e.modules[t]?.moduleState}const $s=(e,t)=>{const r=e.modules[t]?.moduleState;return r&&r.type===c.THERMOCYCLER_MODULE_TYPE?r:null},zn=(e,t)=>{const r=e.modules[t]?.moduleState;return r&&r.type===c.ABSORBANCE_READER_TYPE?r:null},mt=(e,t)=>{const r=e.modules[t]?.moduleState;return r&&r.type===c.FLEX_STACKER_MODULE_TYPE?r:null},it=(e,t)=>{const r=e.modules[t]?.moduleState;return r&&r.type===c.VACUUM_MODULE_TYPE?r:null},lb=(e,t,r)=>{const{moduleId:n,measureMode:a,sampleWavelengths:s,referenceWavelength:o}=e,i=zn(r,n),l=[];if(i==null&&l.push(Q()),l.length>0)return{errors:l};const u=[O(ws,{moduleId:n}),O(g_,{moduleId:n,measureMode:a,sampleWavelengths:s,referenceWavelength:o??void 0})];return ae(u,t,r)},ub=(e,t,r)=>{const n=[],a=zn(r,e.moduleId);if((a==null||e.moduleId==null)&&n.push(Q()),a?.initialization==null&&n.push(xb()),n.length>0)return{errors:n};const{moduleId:s,fileName:o}=e,i=[O(ws,{moduleId:s}),O(E_,{moduleId:s,fileName:o})];return ae(i,t,r)},iA=(e,t,r)=>{const{pipetteId:n,trashId:a,flowRate:s,volume:o}=e,i=[O(Fe,{pipetteId:n,fixtureId:a,offset:wt}),R(Lt,{pipetteId:n}),O(At,{pipetteId:n,volume:o,flowRate:s})];return ae(i,t,r)},lA=(e,t,r)=>{const{pipetteId:n,volume:a,flowRate:s,wasteChuteId:o}=e,i=[O(Fe,{pipetteId:n,fixtureId:o,offset:wt}),R(Lt,{pipetteId:n}),O(At,{pipetteId:n,flowRate:s,volume:a})];return ae(i,t,r)},uA=(e,t,r)=>{const{labwareId:n,wellName:a,flowRate:s,pipetteId:o,volume:i,type:l}=e,u=t.pipetteEntities[o].pythonName,p=l==="aspirate"?[]:[R(Lt,{pipetteId:o})],d=()=>({commands:[],python:`${u}.air_gap(${[`volume=${i}`,`height=${xu}`,`flow_rate=${s}`].join(", ")})`}),f=[R(B,{pipetteId:o,labwareId:n,wellName:a,wellLocation:{origin:"top",offset:{z:xu,x:0,y:0}}}),...p,R(At,{pipetteId:o,volume:i,flowRate:s}),d];return ae(f,t,r)},cb=(e,t,r)=>{const{pipetteId:n,trashId:a,flowRate:s}=e,{pipetteEntities:o,trashBinEntities:i}=t,l=o[n].pythonName,u=i[a].pythonName,p=()=>({commands:[],python:`${l}.flow_rate.blow_out = ${s}
-${l}.blow_out(${u})`}),d=[R(Fe,{pipetteId:n,fixtureId:a,offset:wt}),R(Dn,{pipetteId:n,flowRate:s}),p];return ae(d,t,r)},pb=(e,t,r)=>{const{pipetteId:n,flowRate:a,wasteChuteId:s}=e,{pipetteEntities:o,wasteChuteEntities:i}=t,l=o[n].pythonName,u=i[s].pythonName,p=()=>({commands:[],python:`${l}.flow_rate.blow_out = ${a}
-${l}.blow_out(${u})`}),d=[R(Fe,{pipetteId:n,fixtureId:s,offset:wt}),R(Dn,{pipetteId:n,flowRate:a}),p];return ae(d,t,r)};var Mu,yh;function cA(){if(yh)return Mu;yh=1;var e=T_();function t(r){var n=e(r),a=n%1;return n===n?a?n-a:n:0}return Mu=t,Mu}var Fu,bh;function pA(){if(bh)return Fu;bh=1;var e=gy(),t=Oc(),r=cA(),n=Math.ceil,a=Math.max;function s(o,i,l){(l?t(o,i,l):i===void 0)?i=1:i=a(r(i),0);var u=o==null?0:o.length;if(!u||i<1)return[];for(var p=0,d=0,f=Array(n(u/i));p<u;)f[d++]=e(o,p,p+=i);return f}return Fu=s,Fu}var dA=pA();const db=xe(dA),tr=e=>{const{labwareDef:t,wells:r,primaryNozzle:n}=e,a=c.PARTIAL_NOZZLE_MAP[n]-1,{ordering:s,parameters:o}=t;return r.map(i=>{const l=s.find(p=>p.includes(i));if(l==null)return console.warn(`Could not find column for ${i} in ${o.loadName}`),i;if(l.length===1)return i;const u=l.indexOf(i);return u===-1?(console.warn(`Could not find column index of ${i}`),i):l[u+a]})},fb=(e,t,r)=>{const{pipetteId:n,trashLocation:a}=e;let s=[];const o=$c(a);if(r.tipState.pipettes[n]?.hasTip){const i=t.pipetteEntities[n].pythonName,l=()=>({commands:[],python:`${i}.drop_tip()`});s=[R(vc,{pipetteId:n,addressableAreaName:o}),R(Ss,{pipetteId:n}),l]}return ae(s,t,r)},mb=(e,t,r)=>{const n=wt,{pipetteId:a,wasteChuteId:s}=e,{pipetteEntities:o,wasteChuteEntities:i}=t;let l=[];if(!r.tipState.pipettes[a].hasTip)l=[];else{const u=o[a].pythonName,p=i[s].pythonName,d=()=>({commands:[],python:`${u}.drop_tip(${p})`});l=[R(Fe,{pipetteId:a,fixtureId:s,offset:n}),R(Ss,{pipetteId:a}),d]}return ae(l,t,r)},Ya=(e,t,r)=>{const{pipette:n,dropTipLocation:a,nozzles:s,primaryNozzle:o,tipRack:i,isFromMixCommand:l=!1,tipSelectionArgs:u}=e,p=r.pipettes[n].nozzles,d=r.pipettes[n].tiprackId,f=t.pipetteEntities[n]?.spec,_=f?.channels;let m=null;if(u==null){if(i==null)return{errors:[Zb()]};const g=Wa(n,i,t,r,o,s);m=g.nextTiprack;const k=g.tipracks,{excludedBy96Channel:v,excludedByLid:q}=k??{},$=m==null&&_===96&&v>0;if(s===c.ALL&&$)return{errors:[Mb()]};if(s===c.COLUMN&&$)return{errors:[Fb()]};if(q>0&&m==null)return{errors:[aT()]}}else m={tiprackId:u.tipRackId,well:u.tipWell};if(m==null)return{errors:[Db()]};const h=(f?.displayCategory==="FLEX"||_===96)??!1;if(!f)return{errors:[pt({pipette:n})]};const b=t.labwareEntities[m.tiprackId]?.def,T=t.wasteChuteEntities[a]!=null,y=t.trashBinEntities[a]!=null;if(!b)return{errors:[dt({actionName:"replaceTip",labware:m.tiprackId})]};const A=r.tipState.pipettes[n]?.hasTip;if(!a||!T&&!y&&A)return{errors:[Rn()]};if(Vn({pipette:n,labware:m.tiprackId,invariantContext:t,prevRobotState:r}))return{errors:[Ta()]};const w=qn(m.tiprackId,r.labware);if(Hn(r.modules,w,h?c.FLEX_ROBOT_TYPE:c.OT2_ROBOT_TYPE))return{errors:[Ia()]};if(!h){if(Bn(r.modules,w))return{errors:[ga()]};if(xn(r.modules,w,f))return{errors:[Ea()]}}const I=l?O:R,S=[];_!==1&&e.nozzles!=null&&(e.nozzles!==p||m.tiprackId!==d)&&S.push(O(A_,{configurationParams:{primaryNozzle:o,style:e.nozzles},pipetteId:e.pipette}));const L=u?St:cc;let E=[I(Hr,{pipette:n,dropTipLocation:a}),...S,I(ss,{pipetteId:n,labwareId:m.tiprackId,wellName:m.well,nozzles:e.nozzles,tipTrackingOption:L,primaryNozzle:o})];return T&&(E=[I(mb,{pipetteId:e.pipette,wasteChuteId:t.wasteChuteEntities[e.dropTipLocation].id}),...S,I(ss,{pipetteId:n,labwareId:m.tiprackId,wellName:m.well,nozzles:e.nozzles,tipTrackingOption:L,primaryNozzle:o})]),y&&(E=[I(fb,{pipetteId:n,trashLocation:t.trashBinEntities[e.dropTipLocation].location}),...S,I(ss,{pipetteId:n,labwareId:m.tiprackId,wellName:m.well,nozzles:e.nozzles,tipTrackingOption:L,primaryNozzle:o})]),ae(E,t,r)},Th=(e=0)=>e>0?[R(me,{seconds:e})]:[],fA=e=>()=>{const{invariantContext:t,pipette:r,times:n,volume:a,aspirateDelaySeconds:s,dispenseDelaySeconds:o,finalPushOut:i,aspirateFlowRateUlSec:l,dispenseFlowRateUlSec:u,positionArgs:p}=e,{pipetteEntities:d,labwareEntities:f}=t,_=d[r].pythonName;let m=null;if(p!=null){const{labware:b,well:T,wellOrigin:y,xOffset:A,yOffset:w,zOffset:I}=p,S=f[b].pythonName,L={origin:y,offset:{x:A,y:w,z:I}};m=`location=${S}[${N(T)}]${Bt(L)}`}const h=[`repetitions=${n}`,`volume=${a}`,...m!=null?[m]:[],`aspirate_flow_rate=${l}`,`dispense_flow_rate=${u}`,...s!=null&&s!==0?[`aspirate_delay=${s}`]:[],...o!=null&&o!==0?[`dispense_delay=${o}`]:[],...i!=null?[`final_push_out=${i}`]:[]];return{commands:[],python:`${_}.mix(
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null},lA=(e,t,r,n,a,o,s)=>{const{pipetteBoundingBoxOffsets:i}=e.spec,l=oA(o,e,a,n),u=i.backLeftCorner[0],p=i.frontRightCorner[0],d=i.backLeftCorner[1],f=i.frontRightCorner[1],m=r.x-(l.x-u),h=r.x+(p-l.x),_=r.y+(d-l.y),b=r.y-(l.y-f),T=(r.z??0)+t-s;return[{x:m,y:_,z:T},{x:h,y:b,z:T},{x:h,y:_,z:T},{x:m,y:b,z:T}]},bb=(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)},Ah=(e,t)=>{if(t===c.FLEX_ROBOT_TYPE){const r=c.getDeckDefFromRobotType(t),{addressableAreas:n}=r.locations;return n.find(o=>o.id.includes(e))?.offsetFromCutoutFixture[2]??0}return c.getModuleDef(e).dimensions.bareOverallHeight},uA=e=>{const t=c.getDeckDefFromRobotType(e);return Object.values(t.cutoutFixtures).find(n=>c.WASTE_CHUTE_FIXTURES.includes(n.id))?.height??0},cA=(e,t,r,n)=>{const{modules:a,labware:o}=e,{moduleEntities:s,labwareEntities:i,wasteChuteEntities:l}=t;let u=0;const p=r?.addressableArea?.id;if(p){const d=Uo(o,p),f=Object.keys(a).find(h=>a[h].slot===p);Object.values(l).find(h=>h.location===yb(r))&&(u+=uA(n)),d.length>0?d.forEach(h=>{a[h]!=null&&(u+=Ah(s[h].model,n)),o[h]!=null&&(u+=i[h].def.dimensions.zDimension)}):f!=null&&(u+=Ah(s[f].model,n))}return u},pA=(e,t,r,n,a)=>{for(const o of t){const s=o.addressableArea?.boundingBox,i=o.position;if(i==null||s==null)continue;const l={x:i[0],y:s.yDimension+i[1],z:i[2]},u={x:i[0]+s.xDimension,y:i[1],z:i[2]};if(bb([e[0],e[1]],[l,u])&&e[0].z!=null&&cA(r,n,o,a)>=e[0]?.z&&o.addressableArea!=null)return{addressableAreaCausingCollision:o.addressableArea}}return null},dA=(e,t)=>Object.values(t).find(r=>r.type===c.THERMOCYCLER_MODULE_TYPE)?bb([Sh,sA],[e[0],e[1]])&&e[0].x<=Sh.z:!1,fA=(e,t,r,n)=>{const{wells:a}=e.def,o=a[t];return{x:o.x+r.x,y:o.y+r.y,z:n?o.z+(r.z??0):e.def.dimensions.zDimension}},ht=e=>{const{robotState:t,invariantContext:r,pipetteId:n,labwareId:a,wellLocationOffset:o={x:0,y:0,z:0},wellTargetName:s,primaryNozzle:i,nozzleConfiguration:l,tiprackId:u}=e,{pipetteEntities:p,labwareEntities:d,stagingAreaEntities:f,moduleEntities:m}=r,{labware:h,tipState:_}=t,b=p[n];if(b==null)return{isSafe:!0};const{spec:T}=b,{channels:y}=T,E=T?.displayCategory==="FLEX"?c.FLEX_ROBOT_TYPE:c.OT2_ROBOT_TYPE,A=c.getDeckDefFromRobotType(E);if(d[a]==null||s==null||y===1)return{isSafe:!0};const L=u?!0:_.pipettes[n]?.hasTip??!1,S=u??_.pipettes[n]?.tiprackURI,g=S!=null?d[S]:null,k=g!=null?g.def.parameters.tipLength:0,v=Object.values(f).map(P=>P.location),D=L?k??0:0,q=K(h[a].stack),Q=h[a].stack.some(P=>m[P]?.type===c.THERMOCYCLER_MODULE_TYPE),fe=c.getDeckDefFromRobotType(c.FLEX_ROBOT_TYPE),_e=(Q?c.getPositionFromSlotId(c.B1_ADDRESSABLE_AREA,fe):c.getPositionFromSlotId(q,A))??[0,0,0],ne=Q?fe.locations.addressableAreas.find(P=>P.id===c.THERMOCYCLER_MODULE_V2)?.offsetFromCutoutFixture??[0,0,0]:[0,0,0],Te={x:ne[0]+_e[0],y:ne[1]+_e[1],z:ne[2]+_e[2]},{def:Oe}=d[a],Be=Ib({wellTargetName:s,primaryNozzle:i,nozzleConfiguration:l,specs:T,labwareDef:Oe}),Me={x:o.x+Be.x+Te.x,y:o.y+Be.y+Te.y,z:(o.z??0)+(Te.z??0)},ae=fA(d[a],s,Me,L),Re=g!=null?mA({pipetteSpecs:T,tiprackUri:g.labwareDefURI,nozzles:l}):0,We=d[a].def,Fe=lA(b,D,ae,We,i,l,Re);if(!_A({channels:y,boundingBox:Fe,robotType:E}))return{isSafe:!1,reason:{type:"outsidePipetteExtents"}};const Z=(E===c.OT2_ROBOT_TYPE?c.getOt2SurroundingSlots(q):c.getFlexSurroundingSlots(q,v)).map(P=>{const $=c.getAddressableAreaFromSlotId(P,A),F=c.getPositionFromSlotId(P,A);return{addressableArea:$,position:F}});if(dA(Fe,m))return{isSafe:!1,reason:{type:"thermocyclerLidCollision"}};const N=pA(Fe,Z,t,r,E);return N!=null?{isSafe:!1,reason:{type:"adjacentAdressableAreaCollision",addressableAreaCausingCollision:N.addressableAreaCausingCollision}}:{isSafe:!0}},bp=e=>{const{tipState:t,primaryNozzle:r,channels:n,nozzleConfiguration:a,wellName:o,tiprackDef:s,tipsToIgnore:i=[]}=e,{ordering:l}=s;if(n===1)return{isSafe:!0,isComplete:t[o]!==de};if(n===8){const u=r!==c.A1_NOZZLE,p=dc(o),d=l[p],f=u?[...d].reverse():d;if(a===c.SINGLE){const m=f.indexOf(o);return{isSafe:f.slice(m+1).every(h=>t[h]===de||i.includes(h)),isComplete:t[o]!==de}}if(a===c.PARTIAL_COLUMN){const m=f.indexOf(o),h=c.PARTIAL_NOZZLE_MAP[r],_=u?f.slice(m-h+1,m+1):f.slice(m,m+h);return{isSafe:f.slice(m+1).every(b=>t[b]===de||i.includes(b)),isComplete:_.every(b=>t[b]!==de&&!i.includes(b))}}return{isSafe:!0,isComplete:f.every(m=>t[m]!==de)}}if(a===c.ALL)return{isSafe:!0,isComplete:Object.keys(s.wells).every(u=>t[u]!==de)};if(a===c.COLUMN){const u=r===c.A12_NOZZLE,p=dc(o),d=l[p],f=u?[...l].reverse():l,m=f.indexOf(d);return{isSafe:f.slice(m+1).flat().every(h=>t[h]===de||i.includes(h)),isComplete:f[m].every(h=>t[h]!==de)}}if(a===c.ROW){const u=l[0].map((m,h)=>l.map(_=>_[h])),d=r===c.H1_NOZZLE?[...u].reverse():u,f=d.findIndex(m=>m.some(h=>h===o));return{isSafe:d.slice(f+1).flat().every(m=>t[m]===de||i.includes(m)),isComplete:d[f].every(m=>t[m]!==de)}}if(a===c.SINGLE){const u=wn(r??bo({nozzles:a,channels:n})),p=Tp(r??bo({nozzles:a,channels:n})),d=u==="H",m=p==="12"?[...l].reverse():l,h=m.findIndex(_=>_.some(b=>b===o));return{isSafe:m.slice(h).every(_=>{const b=d?[..._].reverse():_,T=b.findIndex(y=>wn(y)===wn(o));return b.slice(T).every(y=>t[y]===de||i.includes(y)||y===o)}),isComplete:t[o]!==de}}return{isSafe:!1}},wn=e=>e.slice(0,1),Tp=e=>e.slice(1),dc=e=>parseInt(e.slice(1))-1,bo=e=>{const{nozzles:t,channels:r}=e;if(r===8&&t===c.SINGLE)return"H1";if(r===96){if(t===c.COLUMN)return"A12";if(t===c.SINGLE)return"H12"}return"A1"},Qa=e=>{const{wellSets:t,nozzles:r,channels:n,primaryNozzle:a}=e;return r===c.ROW?t.map(o=>o[0]):t.map(o=>n===96&&r===c.ALL?a:r===c.COLUMN||n===8&&r===c.ALL||n===8&&r===c.PARTIAL_COLUMN?wn(a)==="H"?o[o.length-1]:o[0]:(console.assert(o.length===1,"Well set for SINGLE nozzle configuration should have exactly 1 well"),o[0]))},mA=e=>{const{pipetteSpecs:t,tiprackUri:r,nozzles:n}=e,{channels:a}=t,o=hA(a,n),s=t.pickUpTipConfigurations.pressFit.configurationsByNozzleMap[o]?.default.tipOverlaps;if(s==null)return console.error(`No tip overlaps found for ${n} and ${o} overlap.`),0;const i=Math.max(...Object.keys(s).map(l=>Number(l.slice(1))));return s[`v${i}`]?.[r]??s[`v${i}`]?.default??0},hA=(e,t)=>{if(e===1)return"SingleA1";if(e===8)return t===c.SINGLE?"SingleH1":"Full";if(e===96){if(t===c.SINGLE)return"SingleH12";if(t===c.COLUMN)return"Column12";if(t===c.ROW)return"RowA"}return"Full"},_A=e=>{const{channels:t,boundingBox:r,robotType:n}=e,a=c.getRobotDefFromRobotType(n),{paddingOffsets:o}=a,{front:s,rear:i,leftSide:l,rightSide:u}=o,[p,d]=a.extents,[f,m]=r,{x:h,y:_}=f,{x:b,y:T}=m;if(t===96){if(b<l)return!1;const y=p+u;if(h>y)return!1}if(t!==1){if(_<s)return!1;const y=d+i;if(T>y)return!1}return!0},Tb=e=>{const{channels:t,nozzleMap:r}=e;if(t===1)return 0;const[n,a]=["A1","B1"].map(s=>r[s][1]);return Math.abs(n-a)},Ib=e=>{const t=yA(e),r=bA(e);return{x:t,y:r}},yA=e=>{const{primaryNozzle:t,nozzleConfiguration:r,specs:n,labwareDef:a}=e,{channels:o}=n;if(o!==96)return 0;const{ordering:s}=a,i=s.length===1;if(!i)return 0;let l;const u=Tp(t)==="12"?1:-1;if(r===c.ALL&&o===96||r===c.ROW)l=12;else if(r===c.QUADRANT)l=6;else return u*iA;const p=Tb(n);return i?(l-1)*p/2*u:0},bA=e=>{const{wellTargetName:t,primaryNozzle:r,nozzleConfiguration:n,specs:a,labwareDef:o}=e,{channels:s}=a;if(s===1)return 0;const i=Tb(a),{ordering:l}=o,u=l.findIndex(f=>f.includes(t));if(l[u].length!==1)return 0;if(n===c.PARTIAL_COLUMN){const m=-1*(8-c.PARTIAL_NOZZLE_MAP[r])*i,h=7*i/2;return m+h}const d=wn(r)==="H"?-1:1;return 7*i/2*d};function Eb(e){const t=e.length===1?e[0]:null;return t!=null&&"steps"in t?{numRepetitions:t.repetitions,repeatingProfileSteps:t.steps}:{numRepetitions:1,repeatingProfileSteps:Ip(e)}}function Ip(e){return e.flatMap(t=>"steps"in t?py(t.steps,t.repetitions):t)}const TA=e=>{switch(e.commandCreatorFnName){case"consolidate":return O(Nb,e);case"delay":return O(be,e);case"waitForModuleTask":return O(xb,e);case"distribute":return O(Cb,e);case"transfer":return O(Ub,e);case"mix":return O(Pb,e);case"moveLabware":return O(G_,e);case"captureImage":return O(F_,e);case"engageMagnet":return O(B_,e);case"disengageMagnet":return O($_,e);case"setTemperature":return O($c,e);case"deactivateTemperature":return O(V_,e);case"waitForTemperature":return O(Gc,e);case"thermocyclerProfile":return O(Mb,e);case"thermocyclerState":return O(Fb,e);case"heaterShaker":return O(Db,e);case"comment":return O(U_,e);case"absorbanceReaderOpenLid":return O(D_,e);case"absorbanceReaderCloseLid":return O(Po,e);case"absorbanceReaderRead":return O(Ab,e);case"absorbanceReaderInitialize":return O(Sb,e);case"flexStackerEmpty":return O(x_,{...e,strategy:"manualWithPause"});case"flexStackerFillItems":return O(H_,e);case"flexStackerRetrieve":return O(z_,e);case"flexStackerStore":return O(j_,{...e,strategy:"automatic"});case"vacuumCloseVent":return O($a,e);case"vacuumOpenVent":return O(Y_,e);case"vacuumSetPumpPower":return O(Hc,e);case"vacuumSetPumpPressure":return O(zc,e);case"vacuumStartRunProfile":return O(jc,e);case"vacuumStopPump":return O(Z_,e);case"vacuumCloseVentSetPumpPressure":return O(Vb,e);case"vacuumCloseVentSetPumpPower":return O(qb,e);case"vacuumCloseVentStartProfile":return O($b,e);case"airGapInPlace":return O(Ot,e);case"aspirate":return O(Ot,e);case"aspirateInPlace":return O(Va,e);case"aspirateWhileTracking":return O(vE,e);case"blowOutInPlace":return O(Vn,e);case"blowout":return O(Uc,e);case"configureForVolume":return O(Rn,e);case"configureNozzleLayout":return O(q_,e);case"dispense":return O(qc,e);case"dispenseInPlace":return O(Je,e);case"dispenseWhileTracking":return O(kE,e);case"dropTip":return O(Gr,e);case"dropTipInPlace":return O(No,e);case"home":return O(PE,e);case"moveRelative":return O(NE,e);case"moveToAddressableArea":return O($e,e);case"moveToAddressableAreaForDropTip":return O(Vc,e);case"moveToCoordinates":return O(CE,e);case"moveToWell":return O(x,e);case"pickUpTip":return O(po,e);case"prepareToAspirate":return O(Rt,e);case"touchTip":return O(St,e);case"tryLiquidProbe":return O(DE,e);case"heaterShaker/closeLabwareLatch":return O(X_,e);case"heaterShaker/openLabwareLatch":return O(Q_,e);case"heaterShaker/setAndWaitForShakeSpeed":return O(J_,e);case"heaterShaker/deactivateHeater":return O(ec,e);case"heaterShaker/deactivateShaker":return O(tc,e);case"thermocycler/closeLid":return O(Wc,e);case"thermocycler/openLid":return O(ry,e);case"thermocycler/deactivateBlock":return O(ey,e);case"thermocycler/deactivateLid":return O(ty,e);case"thermocycler/setTargetBlockTemperature":return O(ny,e);case"thermocycler/setTargetLidTemperature":return O(Yc,e);case"thermocycler/startRunExtendedProfile":return O(W_,e)}},M=ZT;function gb(e){return Object.keys(e).sort((r,n)=>{const a=K(e[r].stack),o=K(e[n].stack),s=parseInt(a),i=parseInt(o);return De.includes(a)&&De.includes(o)?r.localeCompare(n):De.includes(a)?1:De.includes(o)?-1:s-i})}function wb(e){const{pipetteId:t,tiprackId:r,invariantContext:n,robotState:a,nozzles:o,primaryNozzle:s}=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=g=>u[g]===Da,d=c.orderWells(l.ordering,"t2b","l2r"),f=c.orderWells(l.ordering,"b2t","l2r"),m=g=>g.find(p)??null,h=g=>[...g].reverse().find(p)??null,_=g=>g.find(k=>k.every(p))??null,b=g=>[...g].reverse().find(k=>k.every(p))??null,T=i===8&&o===c.SINGLE,y=T&&s===c.H1_NOZZLE,I=T&&s===c.A1_NOZZLE,w=i===96&&o===c.SINGLE,E=w&&s===c.H12_NOZZLE,A=w&&s===c.A12_NOZZLE,L=w&&s===c.H1_NOZZLE,S=w&&s===c.A1_NOZZLE;if(i===1||y||E)return m(d);if(I)return m(f);if(o===c.PARTIAL_COLUMN){const g=m(d);if(!g)return null;const k=d.indexOf(g);return d[k]??null}if(o===c.ALL&&i===8)return _(l.ordering)?.[0]??null;if(S)return h(d);if(A)return m(f);if(L)return h(f);if(o===c.COLUMN){const g=l.ordering;return(s===c.A1_NOZZLE?b(g):_(g))?.[0]??null}if(o===c.ROW){const g=l.ordering,k=g[0].map((D,q)=>g.map(Q=>Q[q]));return(s===c.A1_NOZZLE?b(k):_(k))?.[0]??null}return o===c.ALL&&i===96?d.every(p)?d[0]:null:(console.assert(!1,`Unhandled _getNextTip case for pipette ${t}`),null)}function Ja(e,t,r,n,a,o){const s=r.pipetteEntities[e];if(!s)throw new Error(`cannot getNextTiprack, no pipette entity for pipette "${e}"`);const i=[],l=gb(n.labware).filter(h=>{console.assert(r.labwareEntities[h]?.labwareDefURI!=null,`cannot getNextTiprack, no labware entity for "${h}"`);const _=K(n.labware[h].stack),b=Sy(_),T=wy({labwareId:h,labwareRobotState:n.labware,labwareEntities:r.labwareEntities});if(b&&T&&c.getIsTiprack(r.labwareEntities[h].def))return i.push(h),!1;const y=r.labwareEntities[h].labwareDefURI;return b&&y===t});let u=l;const p=s.spec.channels===96,d=[];p&&(u=u.filter(h=>{const _=n.labware[h].stack[1],b=r.labwareEntities[_],T=b?.def.parameters.loadName==="opentrons_flex_96_tiprack_adapter"&&c.getLabwareDefIsStandard(b?.def),y=o===c.ALL?T:!T;return y||d.push(h),y}));let f=null,m=null;for(const h of u){const _=wb({pipetteId:e,tiprackId:h,nozzles:o,invariantContext:r,robotState:n,primaryNozzle:a}),{isSafe:b}=_!=null?ht({robotState:n,invariantContext:r,pipetteId:e,labwareId:h,wellTargetName:_,primaryNozzle:a,nozzleConfiguration:o}):{isSafe:!1},{isSafe:T,isComplete:y=!1}=_!=null?bp({tipState:n.tipState.tipracks[h],primaryNozzle:a,channels:s.spec.channels,nozzleConfiguration:o,wellName:_,tiprackDef:r.labwareEntities[h].def}):{isSafe:!1};if(_&&b&&T&&y){f=h,m=_;break}}return f&&m?{nextTiprack:{tiprackId:f,well:m},tipracks:{totalTipracks:l.length,excludedBy96Channel:d.length,excludedByLid:i.length,filteredSortedTiprackIds:u}}:{nextTiprack:null,tipracks:{totalTipracks:l.length,excludedBy96Channel:d.length,excludedByLid:i.length,filteredSortedTiprackIds:u}}}function Wo(e,t,r){const n=t.pipetteEntities[e],a=n.spec.liquids.default.maxVolume,o=n.tiprackLabwareDef;let s=null;for(const l of o)if(c.getLabwareDefURI(l)===r){s=l;break}const i=c.getTiprackVolume(s??o[0]);return!a||!i?(console.assert(!1,`getPipetteEffectiveMaxVol expected tiprackMaxVol and pipette maxVolume to be > 0, got',
+      ${a}, ${i}`),NaN):NT([i,a])??NaN}function vt(e,t){return t in e.modules||console.warn(`getModuleState expected module id "${t}" to be in robot state`),e.modules[t]?.moduleState}const Yo=(e,t)=>{const r=e.modules[t]?.moduleState;return r&&r.type===c.THERMOCYCLER_MODULE_TYPE?r:null},Kn=(e,t)=>{const r=e.modules[t]?.moduleState;return r&&r.type===c.ABSORBANCE_READER_TYPE?r:null},_t=(e,t)=>{const r=e.modules[t]?.moduleState;return r&&r.type===c.FLEX_STACKER_MODULE_TYPE?r:null},ut=(e,t)=>{const r=e.modules[t]?.moduleState;return r&&r.type===c.VACUUM_MODULE_TYPE?r:null},Sb=(e,t,r)=>{const{moduleId:n,measureMode:a,sampleWavelengths:o,referenceWavelength:s}=e,i=Kn(r,n),l=[];if(i==null&&l.push(re()),l.length>0)return{errors:l};const u=[O(Po,{moduleId:n}),O(C_,{moduleId:n,measureMode:a,sampleWavelengths:o,referenceWavelength:s??void 0})];return le(u,t,r)},Ab=(e,t,r)=>{const n=[],a=Kn(r,e.moduleId);if((a==null||e.moduleId==null)&&n.push(re()),a?.initialization==null&&n.push(aT()),n.length>0)return{errors:n};const{moduleId:o,fileName:s}=e,i=[O(Po,{moduleId:o}),O(M_,{moduleId:o,fileName:s})];return le(i,t,r)},IA=(e,t,r)=>{const{pipetteId:n,trashId:a,flowRate:o,volume:s}=e,i=[O($e,{pipetteId:n,fixtureId:a,offset:At}),R(Rt,{pipetteId:n}),O(Ot,{pipetteId:n,volume:s,flowRate:o})];return le(i,t,r)},EA=(e,t,r)=>{const{pipetteId:n,volume:a,flowRate:o,wasteChuteId:s}=e,i=[O($e,{pipetteId:n,fixtureId:s,offset:At}),R(Rt,{pipetteId:n}),O(Ot,{pipetteId:n,flowRate:o,volume:a})];return le(i,t,r)},gA=(e,t,r)=>{const{labwareId:n,wellName:a,flowRate:o,pipetteId:s,volume:i,type:l}=e,u=t.pipetteEntities[s].pythonName,p=l==="aspirate"?[]:[R(Rt,{pipetteId:s})],d=()=>({commands:[],python:`${u}.air_gap(${[`volume=${i}`,`height=${Zu}`,`flow_rate=${o}`].join(", ")})`}),f=[R(x,{pipetteId:s,labwareId:n,wellName:a,wellLocation:{origin:"top",offset:{z:Zu,x:0,y:0}}}),...p,R(Ot,{pipetteId:s,volume:i,flowRate:o}),d];return le(f,t,r)},Lb=(e,t,r)=>{const{pipetteId:n,trashId:a,flowRate:o}=e,{pipetteEntities:s,trashBinEntities:i}=t,l=s[n].pythonName,u=i[a].pythonName,p=()=>({commands:[],python:`${l}.flow_rate.blow_out = ${o}
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ae(X,t,r)},_b=(e,t,r)=>{const{aspirateDelay:n,aspirateFlowRateUlSec:a,aspiratePositionReference:s,aspirateRetractDelay:o,aspirateRetractPositionReference:i,aspirateRetractSpeed:l,aspirateRetractXOffset:u,aspirateRetractYOffset:p,aspirateRetractZOffset:d,aspirateSubmergeDelay:f,aspirateSubmergePositionReference:_,aspirateSubmergeSpeed:m,aspirateSubmergeXOffset:h,aspirateSubmergeYOffset:b,aspirateSubmergeZOffset:T,aspirateXOffset:y,aspirateYOffset:A,aspirateZOffset:w,blowoutFlowRateUlSec:I,blowoutLocation:S,changeTip:L,destLabware:E,destWell:g,dispenseDelay:k,dispenseFlowRateUlSec:v,dispensePositionReference:q,dispenseRetractPositionReference:$,dispenseRetractXOffset:ee,dispenseRetractYOffset:de,dispenseRetractZOffset:Te,dispenseSubmergeDelay:se,dispenseSubmergePositionReference:Ie,dispenseSubmergeSpeed:Pe,dispenseSubmergeXOffset:He,dispenseSubmergeYOffset:Ve,dispenseSubmergeZOffset:te,dispenseXOffset:Se,dispenseYOffset:ze,dispenseZOffset:Ce,dropTipLocation:Ee,liquidClass:X,mixInDestination:Y,nozzles:C,pipette:P,primaryNozzle:V,pushOut:M,sourceLabware:oe,sourceWells:U,tipRack:z,tipTracking:x,tiprackSelected:F,tipsSelected:H,touchTipAfterAspirate:ce,touchTipAfterAspirateMmFromEdge:Ue,touchTipAfterAspirateOffsetMmFromTop:Je,touchTipAfterAspirateSpeed:Be,touchTipAfterDispense:pe,touchTipAfterDispenseMmFromEdge:et,touchTipAfterDispenseOffsetMmFromTop:ht,touchTipAfterDispenseSpeed:Rt,stepNumber:_t,volume:Re}=e,{pipetteEntities:tt,labwareEntities:ge,trashBinEntities:ke,wasteChuteEntities:Ne}=t,re="consolidate",ne=[],kt=r.pipettes[P],Ge=tt[P]?.spec.channels!==1,K=e.aspirateAirGapVolume??0,he=e.dispenseAirGapVolume??0;kt==null&&ne.push(pt({pipette:P})),(E==null||ge[E]==null&&ke[E]==null&&Ne[E]==null)&&ne.push(kh());const 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ye=ft({robotState:r,invariantContext:t,pipetteId:P,labwareId:oe,wellLocationOffset:{x:y,y:A},primaryNozzle:V,nozzleConfiguration:C});ye.isSafe||ne.push($t({unsafePipetteMovementReason:ye.reason}));const ie=ft({robotState:r,invariantContext:t,pipetteId:P,labwareId:E,wellLocationOffset:{x:Se,y:ze},primaryNozzle:V,nozzleConfiguration:C});ie.isSafe||ne.push($t({unsafePipetteMovementReason:ie.reason}))}const zt=g!=null?ge[oe]?.def.wells[g]?.depth:null,Ct=c.getMmFromBottom(Ce,q,zt),Kr=c.getMmFromBottom(te,Ie,zt),or=c.getMmFromBottom(Te,$,zt);if(Ct!=null&&Kr!=null&&Ct>Kr&&ne.push(Qb()),Ct!=null&&or!=null&&Ct>or&&ne.push(Jb()),ne.length>0)return{errors:ne};const{tipracks:yr}=Wa(P,J,t,r,V,C),ir=c.getByVolumeValue({liquidClass:X,pipetteSpecs:we,tiprackDefUri:J,targetVolume:Re,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Ae=ke[E]?.pythonName??Ne[E]?.pythonName,Nt=ke[Ee]?.pythonName??Ne[Ee]?.pythonName,br=S==null?null:ke[S]?.pythonName??Ne[S]?.pythonName,Tr=ge[oe].pythonName,Xr=ge[E]?.pythonName,gr=C===c.PARTIAL_COLUMN?tr({labwareDef:ge[oe].def,wells:U,primaryNozzle:V}):U,Zr=(C===c.PARTIAL_COLUMN&&g!=null&&ge[E]!=null?tr({labwareDef:ge[E].def,wells:[g],primaryNozzle:V}):[g])[0],Qr=gr.map(ye=>`${Tr}[${N(ye)}]`).join(", 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0}),_=u.pipetteEntities[t].spec,b=c.getByVolumeValue({liquidClass:p,pipetteSpecs:_,tiprackDefUri:d,targetVolume:r,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,T=c.getByVolumeValue({liquidClass:p,pipetteSpecs:_,tiprackDefUri:d,targetVolume:r,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,I=f!=null?[R(x,{...f,wellLocation:{...f.wellLocation}})]:[];for(let w=0;w<n;w++)I.push(R(Va,{pipetteId:t,volume:r,flowRate:a,...b>0?{correctionVolume:b}:{}}),...Rh(s),R(Je,{pipetteId:t,volume:r,flowRate:o,...w<n-1?{pushOut:0}:l==null?{}:{pushOut:l},...T>0?{correctionVolume:T}:{}}),...Rh(i));return[...I,...m?[h]:[]]},Pb=(e,t,r)=>{const{pipette:a,labware:o,wells:s,volume:i,times:l,changeTip:u,aspirateFlowRateUlSec:p,dispenseFlowRateUlSec:d,blowoutFlowRateUlSec:f,blowoutOffsetFromTopMm:m,dropTipLocation:h,tipRack:_,positionReference:b,xOffset:T,yOffset:y,zOffset:I,finalPushOut:w,nozzles:E,primaryNozzle:A,tipsSelected:L,tiprackSelected:S,tipTracking:g}=e,k=e.aspirateDelaySeconds??0,v=e.dispenseDelaySeconds??0,D=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:[mt({actionName:"mix",labware:o})]};const q=K(r.labware[o]?.stack);if(Object.keys(t.wasteChuteEntities).length>0&&q===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA)return{errors:[va()]};const fe=[...Object.keys(t.trashBinEntities),...Object.keys(t.wasteChuteEntities)],_e=fe.length>0?fe[0]:null,ne=Object.values(t.labwareEntities).find(({labwareDefURI:Z})=>Z===h),Te=ne!=null&&c.getIsTiprack(ne.def),Oe=t.wasteChuteEntities[h]!=null,Be=t.trashBinEntities[h]!=null,Me=r.pipettes[a]?.tipWell!=null;if(h==null||Te&&_e==null&&u!=="never"&&Me||!Te&&!Oe&&!Be)return{errors:[Cn()]};if(D){const Z=ht({robotState:r,invariantContext:t,pipetteId:a,labwareId:o,wellLocationOffset:{x:T,y},wellTargetName:s[0],primaryNozzle:A,nozzleConfiguration:E});if(!Z.isSafe)return{errors:[Bt({unsafePipetteMovementReason:Z.reason})]};const N=ht({robotState:r,invariantContext:t,pipetteId:a,labwareId:o,wellLocationOffset:{x:T,y},wellTargetName:s[0],primaryNozzle:A,nozzleConfiguration:E});if(!N.isSafe)return{errors:[Bt({unsafePipetteMovementReason:N.reason})]}}const ae=c.LOW_VOLUME_PIPETTES.includes(t.pipetteEntities[a].name),Re=ae?[O(Rn,{pipetteId:a,volume:i})]:[],We=t.pipetteEntities[a].spec,Ae=g===Lt&&S!=null&&L!=null&&L.length>0?Qa({wellSets:L,nozzles:E,channels:We.channels,primaryNozzle:A}):null,J=On(s,(Z,N)=>{let P=[];if(u==="always"||u==="once"&&N===0){const me=Ae?.shift();P=[O(eo,{pipette:a,primaryNozzle:A,dropTipLocation:Te&&_e!=null?_e:h,tipRack:_,nozzles:E,...g===Lt&&me!=null&&S!=null?{tipSelectionArgs:{tipRackId:S,tipWell:me}}:{},isFromMixCommand:!0})]}const $=ae||e.blowoutLocation!=null&&N>0?[O(Rt,{pipetteId:a})]:[],F=e.touchTip?[O(St,{pipetteId:a,labwareId:o,wellName:Z,zOffsetFromTop:e.touchTipMmFromTop})]:[],ue=dy({pipette:e.pipette,sourceLabwareId:e.labware,sourceWell:Z,destLabwareId:e.labware,destWell:Z,blowoutLocation:e.blowoutLocation,flowRate:f,offsetFromTopMm:m,invariantContext:t}),z=[...Object.keys(t.wasteChuteEntities),...Object.keys(t.trashBinEntities)].some(me=>me===e.blowoutLocation)?[...F,...ue]:[...ue,...F],U=Te&&(N===s.length-1||u==="always")?[O(Gr,{pipette:a,dropTipLocation:_,isReturnTip:Te})]:[],j=Ur({pipette:a,volume:i,times:l,aspirateFlowRateUlSec:p,dispenseFlowRateUlSec:d,invariantContext:t,liquidClass:null,tiprack:_,finalPushOut:w,aspirateDelaySeconds:k,dispenseDelaySeconds:v,moveToWellParams:{pipetteId:a,labwareId:o,wellName:Z,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[b],offset:{x:T,y,z:I}}},generatePython:!0});return[...P,...Re,...$,...j,...z,...U]});return le(J,t,r)},Nb=(e,t,r)=>{const{aspirateDelay:n,aspirateFlowRateUlSec:a,aspiratePositionReference:o,aspirateRetractDelay:s,aspirateRetractPositionReference:i,aspirateRetractSpeed:l,aspirateRetractXOffset:u,aspirateRetractYOffset:p,aspirateRetractZOffset:d,aspirateSubmergeDelay:f,aspirateSubmergePositionReference:m,aspirateSubmergeSpeed:h,aspirateSubmergeXOffset:_,aspirateSubmergeYOffset:b,aspirateSubmergeZOffset:T,aspirateXOffset:y,aspirateYOffset:I,aspirateZOffset:w,blowoutFlowRateUlSec:E,blowoutLocation:A,changeTip:L,destLabware:S,destWell:g,dispenseDelay:k,dispenseFlowRateUlSec:v,dispensePositionReference:D,dispenseRetractPositionReference:q,dispenseRetractXOffset:Q,dispenseRetractYOffset:fe,dispenseRetractZOffset:_e,dispenseSubmergeDelay:ne,dispenseSubmergePositionReference:Te,dispenseSubmergeSpeed:Oe,dispenseSubmergeXOffset:Be,dispenseSubmergeYOffset:Me,dispenseSubmergeZOffset:ae,dispenseXOffset:Re,dispenseYOffset:We,dispenseZOffset:Fe,dropTipLocation:Ae,liquidClass:J,mixInDestination:Z,nozzles:N,pipette:P,primaryNozzle:$,pushOut:F,sourceLabware:ue,sourceWells:V,tipRack:G,tipTracking:z,tiprackSelected:U,tipsSelected:j,touchTipAfterAspirate:me,touchTipAfterAspirateMmFromEdge:xe,touchTipAfterAspirateOffsetMmFromTop:rt,touchTipAfterAspirateSpeed:je,touchTipAfterDispense:he,touchTipAfterDispenseMmFromEdge:nt,touchTipAfterDispenseOffsetMmFromTop:yt,touchTipAfterDispenseSpeed:kt,stepNumber:bt,volume:Ne}=e,{pipetteEntities:at,labwareEntities:Se,trashBinEntities:Ce,wasteChuteEntities:Ue}=t,oe="consolidate",se=[],Pt=r.pipettes[P],Ke=at[P]?.spec.channels!==1,X=e.aspirateAirGapVolume??0,Ie=e.dispenseAirGapVolume??0;Pt==null&&se.push(ft({pipette:P})),(S==null||Se[S]==null&&Ce[S]==null&&Ue[S]==null)&&se.push(qh());const Tr=K(r.labware[S]?.stack),ot=K(r.labware[ue]?.stack);Object.keys(Ue).length>0&&(Tr===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA||ot===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA)&&se.push(va());const Ee=[...Object.keys(t.trashBinEntities),...Object.keys(t.wasteChuteEntities)],st=Ee.length>0?Ee[0]:null,Zr=Object.values(t.labwareEntities).find(({labwareDefURI:ge})=>ge===Ae),Nt=Zr!=null&&c.getIsTiprack(Zr.def),to=t.wasteChuteEntities[Ae]!=null,Xr=t.trashBinEntities[Ae]!=null,lr=r.tipState.pipettes[P]?.hasTip;(Ae==null||Nt&&st==null&&L!=="never"&&lr||!Nt&&!to&&!Xr)&&se.push(Cn());let Ze,te;if(L==="never"){const ge=r.tipState.pipettes[P]?.tiprackURI;Ze=t.labwareEntities[ge??""],te=Ze?.labwareDefURI}else Ze=Object.values(Se).find(({labwareDefURI:ge})=>ge===G),te=G;Ze==null&&(L==="never"?se.push(zt({actionName:oe,pipette:P})):se.push(mt({actionName:oe,labware:te})));const{def:Ct=null}=Ze??{},{spec:Le,name:ct,pythonName:ee}=at[P],W=c.getAllLiquidClassDefs()[J===c.NONE_LIQUID_CLASS_NAME||J==null?c.WATER_LIQUID_CLASS_NAME:J].byPipette?.find(({pipetteModel:ge})=>ge===c.getFlexNameConversion(Le))?.byTipType.find(({tiprack:ge})=>ge===te)??null,{aspirate:pt}=W??{},{multiWellHandling:ye}=Jc({pipetteSpecs:Le,tiprackDefinition:Ct,volume:Ne,path:"multiAspirate",numAspirateWells:V.length,numDispenseWells:1,aspirateAirGapByVolume:pt?.retract.airGapByVolume??[],conditioningByVolume:null,disposalByVolume:null}),{numWellsToFitInTip:it}=ye;if((!ye.isSupported||it==null||it===1)&&se.push(_T()),Ke&&N!==c.ALL){const ge=ht({robotState:r,invariantContext:t,pipetteId:P,labwareId:ue,wellLocationOffset:{x:y,y:I},primaryNozzle:$,nozzleConfiguration:N});ge.isSafe||se.push(Bt({unsafePipetteMovementReason:ge.reason}));const ce=ht({robotState:r,invariantContext:t,pipetteId:P,labwareId:S,wellLocationOffset:{x:Re,y:We},primaryNozzle:$,nozzleConfiguration:N});ce.isSafe||se.push(Bt({unsafePipetteMovementReason:ce.reason}))}const Gt=g!=null?Se[ue]?.def.wells[g]?.depth:null,Dt=c.getMmFromBottom(Fe,D,Gt),Qr=c.getMmFromBottom(ae,Te,Gt),ur=c.getMmFromBottom(_e,q,Gt);if(Dt!=null&&Qr!=null&&Dt>Qr&&se.push(mT()),Dt!=null&&ur!=null&&Dt>ur&&se.push(hT()),se.length>0)return{errors:se};const{tipracks:Ir}=Ja(P,te,t,r,$,N),cr=c.getByVolumeValue({liquidClass:J,pipetteSpecs:Le,tiprackDefUri:te,targetVolume:Ne,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,ve=Ce[S]?.pythonName??Ue[S]?.pythonName,Mt=Ce[Ae]?.pythonName??Ue[Ae]?.pythonName,Er=A==null?null:Ce[A]?.pythonName??Ue[A]?.pythonName,gr=Se[ue].pythonName,Jr=Se[S]?.pythonName,wr=N===c.PARTIAL_COLUMN?nr({labwareDef:Se[ue].def,wells:V,primaryNozzle:$}):V,en=(N===c.PARTIAL_COLUMN&&g!=null&&Se[S]!=null?nr({labwareDef:Se[S].def,wells:[g],primaryNozzle:$}):[g])[0],tn=wr.map(ge=>`${gr}[${C(ge)}]`).join(", "),rn=en!=null&&Jr!=null?`${Jr}[${C(en)}]`:null,nn=[`name=${C(`${e.commandCreatorFnName}_step_${bt}`)}`,...J!=null?[`base_liquid_class=${Xa(J,!0)}`]:[],`properties=${zo({args:e,pipetteName:c.isFlexPipette(ct)?c.getFlexNameConversion(Le):ct,tiprackUri:te,liquidClassValuesForTip:W})}`],Xn=`${we}.define_liquid_class(
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yt=(Oe,Kt=!0)=>he>0&&!(L==="never"&&De&&Oe)?[...Kt?wr:[],R(Lt,{pipetteId:P}),R(At,{pipetteId:P,volume:he,flowRate:Qn,...Xn>0?{correctionVolume:Xn}:{}}),...lr]:[],Mt=Oe=>g!=null&&pe?[R(Et,{pipetteId:P,labwareId:E,wellName:g,...et!=null?{mmFromEdge:et}:{},zOffsetFromTop:ht,...Rt!=null?{speed:Rt}:{}}),...yt(Oe).length>0&&Er?[R(B,{pipetteId:P,labwareId:E,wellName:g,wellLocation:Dt})]:[]]:[],Le=ie===0,De=ie===sn.length-1,ea=ye.length,le=Re*ea,Ye=L==="always"||L==="once"&&Le;let ur=[];if(Ye){const Oe=jt?.shift();ur=[O(Ya,{pipette:P,primaryNozzle:V,nozzles:C,dropTipLocation:vt&&nt!=null?nt:Ee,tipRack:J,...x===St&&Oe!=null&&F!=null?{tipSelectionArgs:{tipRackId:F,tipWell:Oe}}:{}})]}const Sr=Sn(ye,(Oe,Kt)=>{const Rr=Kt===0;let Tt=0,Xt=v;Rr&&!Ye&&!Le?(Tt=he,Xt=ln):Rr||(Tt=K,Xt=on);const na={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[_],offset:{x:h,y:b,z:T}},dn={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[i],offset:{x:u,y:p,z:d}},fn=Ur({retractZOffset:d,retractPositionReference:i,labwareId:oe,labwareEntities:ge,well:Oe}),aa=!fn&&Oe!=null?[R(B,{pipetteId:P,labwareId:oe,wellName:Oe,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})]:[],mn=c.getByVolumeValue({liquidClass:X,pipetteSpecs:we,tiprackDefUri:J,targetVolume:Tt,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,kr=Rr?[...c.LOW_VOLUME_PIPETTES.includes(t.pipetteEntities[P].name)?[R(An,{pipetteId:P,volume:le})]:[],R(Lt,{pipetteId:P})]:[],sa=Tt>0?[R(Xe,{pipetteId:P,volume:Tt,flowRate:Xt,...mn>0?{correctionVolume:mn}:{},isAirGap:!0,pushOut:0}),...Ir]:[],vr=[...[R(B,{pipetteId:P,labwareId:oe,wellName:Oe,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})],...sa,...kr],hn=[R(B,{pipetteId:P,labwareId:oe,wellName:Oe,wellLocation:na}),R(B,{pipetteId:P,labwareId:oe,...m!=null?{speed:m}:{},wellName:Oe,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[s],offset:{x:y,y:A,z:w}}}),...f!=null&&f.seconds>0?[R(me,{seconds:f.seconds})]:[]],dr=ce?[R(Et,{pipetteId:P,labwareId:oe,wellName:Oe,...Ue!=null?{mmFromEdge:Ue}:{},zOffsetFromTop:Je,...Be!=null?{speed:Be}:{}}),...K>0&&fn?[R(B,{pipetteId:P,labwareId:oe,wellName:Oe,wellLocation:dn})]:[]]:[],Pr=c.getByVolumeValue({liquidClass:X,pipetteSpecs:we,tiprackDefUri:J,targetVolume:K,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Zt=K>0?[...aa,R(At,{pipetteId:P,volume:K,flowRate:Zn,...Pr>0?{correctionVolume:Pr}:{}}),...lr]:[],fr=[R(Na,{pipetteId:P,volume:Re,flowRate:a,correctionVolume:ir}),...lr],oa=[R(B,{pipetteId:P,labwareId:oe,...l!=null?{speed:l}:{},wellName:Oe,wellLocation:dn}),...o!=null&&o?.seconds>0?[R(me,{seconds:o.seconds})]:[]];return[...vr,...hn,...fr,...oa,...dr,...Zt]}),Ar=g!=null?[R(B,{pipetteId:P,labwareId:E,wellName:g,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION}),R(B,{pipetteId:P,labwareId:E,wellName:g,wellLocation:Kn,...Pe!=null?{speed:Pe}:{}})]:[R(Fe,{pipetteId:P,fixtureId:E,offset:{x:0,y:0,z:0}})],ta=c.getByVolumeValue({liquidClass:X,pipetteSpecs:we,tiprackDefUri:J,targetVolume:K,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,un=K>0?[R(Xe,{pipetteId:P,volume:K,flowRate:on,pushOut:0,correctionVolume:ta,isAirGap:!0}),...Ir]:[],bt=g!=null?[R(B,{pipetteId:P,labwareId:E,wellName:g,wellLocation:Kn}),R(B,{pipetteId:P,labwareId:E,...Pe!=null?{speed:Pe}:{},wellName:g,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[q],offset:{x:Se,y:ze,z:Ce}}}),...se!=null&&se.seconds>0?[R(me,{seconds:se.seconds})]:[]]:[],ra=c.getByVolumeValue({liquidClass:X,pipetteSpecs:we,tiprackDefUri:J,targetVolume:le,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,cr=Y!=null?0:M,Lr=[R(Xe,{pipetteId:P,volume:le,flowRate:v,...cr!=null?{pushOut:cr}:{},correctionVolume:ra}),...Ir],Wt=(Y!=null?c.getByVolumeValue({liquidClass:X,pipetteSpecs:we,tiprackDefUri:J,targetVolume:Y.volume,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null}):a)??a,Yt=(Y!=null?c.getByVolumeValue({liquidClass:X,pipetteSpecs:we,tiprackDefUri:J,targetVolume:Y.volume,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null}):v)??v,cn=Y!=null?Dr({pipette:P,volume:Y.volume,times:Y.times,aspirateFlowRateUlSec:Wt,dispenseFlowRateUlSec:Yt,aspirateDelaySeconds:n?.seconds,dispenseDelaySeconds:k?.seconds,finalPushOut:M,invariantContext:t,liquidClass:X,tiprack:J,generatePython:!1}):[],Or=[R(Dn,{pipetteId:P,flowRate:I})];let pr=[];S==null||S===zr?pr=[...Mt(!0),...yt(!0)]:S===Mn&&g!=null?pr=[R(B,{pipetteId:P,labwareId:E,wellName:g,wellLocation:{origin:c.WELL_ORIGIN_TOP}}),...Or,...Mt(!0),...yt(!0)]:pr=[...Mt(!1),...yt(!1),R(Fe,{pipetteId:P,fixtureId:Object.values(ke).length>0?Object.values(ke)[0].id:Object.values(Ne)[0].id,offset:{x:0,y:0,z:0}}),...Or,...yt(!0,!1)];const pn=vt&&(ie===sn.length-1||L==="always")?[R(Hr,{pipette:P,dropTipLocation:J,isReturnTip:vt})]:[];return[...ur,...Gt,...Sr,...Ar,...un,...bt,...Lr,...cn,...pr,...pn]}),Yn];return ae(Xa,t,r)},mA=(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(
-${G(f.join(`,
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Tt=(Pe,Xt=!0)=>Ie>0&&!(L==="never"&&qe&&Pe)?[...Xt?Lr:[],R(Rt,{pipetteId:P}),R(Ot,{pipetteId:P,volume:Ie,flowRate:na,...ta>0?{correctionVolume:ta}:{}}),...pr]:[],Ut=Pe=>g!=null&&he?[R(St,{pipetteId:P,labwareId:S,wellName:g,...nt!=null?{mmFromEdge:nt}:{},zOffsetFromTop:yt,...kt!=null?{speed:kt}:{}}),...Tt(Pe).length>0&&Ar?[R(x,{pipetteId:P,labwareId:S,wellName:g,wellLocation:Ft})]:[]]:[],ke=ce===0,qe=ce===un.length-1,oa=ge.length,pe=Ne*oa,Xe=L==="always"||L==="once"&&ke;let dr=[];if(Xe){const Pe=Wt?.shift();dr=[O(eo,{pipette:P,primaryNozzle:$,nozzles:N,dropTipLocation:Nt&&st!=null?st:Ae,tipRack:te,...z===Lt&&Pe!=null&&U!=null?{tipSelectionArgs:{tipRackId:U,tipWell:Pe}}:{}})]}const Or=On(ge,(Pe,Xt)=>{const Pr=Xt===0;let Et=0,Qt=v;Pr&&!Xe&&!ke?(Et=Ie,Qt=pn):Pr||(Et=X,Qt=cn);const la={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[m],offset:{x:_,y:b,z:T}},hn={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[i],offset:{x:u,y:p,z:d}},_n=$r({retractZOffset:d,retractPositionReference:i,labwareId:ue,labwareEntities:Se,well:Pe}),ua=!_n&&Pe!=null?[R(x,{pipetteId:P,labwareId:ue,wellName:Pe,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})]:[],yn=c.getByVolumeValue({liquidClass:J,pipetteSpecs:Le,tiprackDefUri:te,targetVolume:Et,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Nr=Pr?[...c.LOW_VOLUME_PIPETTES.includes(t.pipetteEntities[P].name)?[R(Rn,{pipetteId:P,volume:pe})]:[],R(Rt,{pipetteId:P})]:[],ca=Et>0?[R(Je,{pipetteId:P,volume:Et,flowRate:Qt,...yn>0?{correctionVolume:yn}:{},isAirGap:!0,pushOut:0}),...Sr]:[],Cr=[...[R(x,{pipetteId:P,labwareId:ue,wellName:Pe,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})],...ca,...Nr],bn=[R(x,{pipetteId:P,labwareId:ue,wellName:Pe,wellLocation:la}),R(x,{pipetteId:P,labwareId:ue,...h!=null?{speed:h}:{},wellName:Pe,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[o],offset:{x:y,y:I,z:w}}}),...f!=null&&f.seconds>0?[R(be,{seconds:f.seconds})]:[]],hr=me?[R(St,{pipetteId:P,labwareId:ue,wellName:Pe,...xe!=null?{mmFromEdge:xe}:{},zOffsetFromTop:rt,...je!=null?{speed:je}:{}}),...X>0&&_n?[R(x,{pipetteId:P,labwareId:ue,wellName:Pe,wellLocation:hn})]:[]]:[],Dr=c.getByVolumeValue({liquidClass:J,pipetteSpecs:Le,tiprackDefUri:te,targetVolume:X,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Jt=X>0?[...ua,R(Ot,{pipetteId:P,volume:X,flowRate:ra,...Dr>0?{correctionVolume:Dr}:{}}),...pr]:[],_r=[R(Va,{pipetteId:P,volume:Ne,flowRate:a,correctionVolume:cr}),...pr],pa=[R(x,{pipetteId:P,labwareId:ue,...l!=null?{speed:l}:{},wellName:Pe,wellLocation:hn}),...s!=null&&s?.seconds>0?[R(be,{seconds:s.seconds})]:[]];return[...Cr,...bn,..._r,...pa,...hr,...Jt]}),Rr=g!=null?[R(x,{pipetteId:P,labwareId:S,wellName:g,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION}),R(x,{pipetteId:P,labwareId:S,wellName:g,wellLocation:ea,...Oe!=null?{speed:Oe}:{}})]:[R($e,{pipetteId:P,fixtureId:S,offset:{x:0,y:0,z:0}})],sa=c.getByVolumeValue({liquidClass:J,pipetteSpecs:Le,tiprackDefUri:te,targetVolume:X,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,dn=X>0?[R(Je,{pipetteId:P,volume:X,flowRate:cn,pushOut:0,correctionVolume:sa,isAirGap:!0}),...Sr]:[],It=g!=null?[R(x,{pipetteId:P,labwareId:S,wellName:g,wellLocation:ea}),R(x,{pipetteId:P,labwareId:S,...Oe!=null?{speed:Oe}:{},wellName:g,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[D],offset:{x:Re,y:We,z:Fe}}}),...ne!=null&&ne.seconds>0?[R(be,{seconds:ne.seconds})]:[]]:[],ia=c.getByVolumeValue({liquidClass:J,pipetteSpecs:Le,tiprackDefUri:te,targetVolume:pe,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,fr=Z!=null?0:F,vr=[R(Je,{pipetteId:P,volume:pe,flowRate:v,...fr!=null?{pushOut:fr}:{},correctionVolume:ia}),...Sr],Kt=(Z!=null?c.getByVolumeValue({liquidClass:J,pipetteSpecs:Le,tiprackDefUri:te,targetVolume:Z.volume,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null}):a)??a,Zt=(Z!=null?c.getByVolumeValue({liquidClass:J,pipetteSpecs:Le,tiprackDefUri:te,targetVolume:Z.volume,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null}):v)??v,fn=Z!=null?Ur({pipette:P,volume:Z.volume,times:Z.times,aspirateFlowRateUlSec:Kt,dispenseFlowRateUlSec:Zt,aspirateDelaySeconds:n?.seconds,dispenseDelaySeconds:k?.seconds,finalPushOut:F,invariantContext:t,liquidClass:J,tiprack:te,generatePython:!1}):[],kr=[R(Vn,{pipetteId:P,flowRate:E})];let mr=[];A==null||A===Wr?mr=[...Ut(!0),...Tt(!0)]:A===$n&&g!=null?mr=[R(x,{pipetteId:P,labwareId:S,wellName:g,wellLocation:{origin:c.WELL_ORIGIN_TOP}}),...kr,...Ut(!0),...Tt(!0)]:mr=[...Ut(!1),...Tt(!1),R($e,{pipetteId:P,fixtureId:Object.values(Ce).length>0?Object.values(Ce)[0].id:Object.values(Ue)[0].id,offset:{x:0,y:0,z:0}}),...kr,...Tt(!0,!1)];const mn=Nt&&(ce===un.length-1||L==="always")?[R(Gr,{pipette:P,dropTipLocation:te,isReturnTip:Nt})]:[];return[...dr,...Yt,...Or,...Rr,...dn,...It,...vr,...fn,...mr,...mn]}),Jn];return le(ro,t,r)},OA=(e,t,r)=>{const{pipetteId:n,trashId:a,flowRate:o,volume:s}=e,{pipetteEntities:i,trashBinEntities:l}=t,u=l[a],p=i[n].pythonName,d=u.pythonName,f=[`volume=${s}`,`location=${d}`,`rate=${o} / ${p}.flow_rate.dispense`],m=()=>({commands:[],python:`${p}.dispense(
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-)`}),_=[R(Fe,{pipetteId:n,fixtureId:o,offset:wt}),R(Xe,{pipetteId:n,flowRate:a,volume:s}),f];return ae(_,t,r)},yb=(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:A,aspirateZOffset:w,blowoutFlowRateUlSec:I,blowoutLocation:S,changeTip:L,destLabware:E,destWells:g,dispenseDelay:k,dispenseFlowRateUlSec:v,dispensePositionReference:q,dispenseRetractDelay:$,dispenseRetractPositionReference:ee,dispenseRetractSpeed:de,dispenseRetractXOffset:Te,dispenseRetractYOffset:se,dispenseRetractZOffset:Ie,dispenseSubmergeDelay:Pe,dispenseSubmergePositionReference:He,dispenseSubmergeSpeed:Ve,dispenseSubmergeXOffset:te,dispenseSubmergeYOffset:Se,dispenseSubmergeZOffset:ze,dispenseXOffset:Ce,dispenseYOffset:Ee,dispenseZOffset:X,dropTipLocation:Y,liquidClass:C,mixBeforeAspirate:P,nozzles:V,pipette:M,preWetTip:oe,primaryNozzle:U,pushOut:z,sourceLabware:x,sourceWell:F,tipRack:H,tipTracking:ce,tiprackSelected:Ue,tipsSelected:Je,touchTipAfterAspirate:Be,touchTipAfterAspirateMmFromEdge:pe,touchTipAfterAspirateOffsetMmFromTop:et,touchTipAfterAspirateSpeed:ht,touchTipAfterDispense:Rt,touchTipAfterDispenseMmFromEdge:_t,touchTipAfterDispenseOffsetMmFromTop:Re,touchTipAfterDispenseSpeed:tt,stepNumber:ge,volume:ke}=e,{pipetteEntities:Ne,labwareEntities:re,trashBinEntities:ne,wasteChuteEntities:kt}=t,Ge="distribute",K=[],he=Ne[M]?.spec.channels!==1,_r=re[x]?.def.parameters.quirks?.includes("touchTipDisabled"),rt=e.aspirateAirGapVolume??0,qe=e.dispenseAirGapVolume??0,_e=e.disposalVolume!=null&&e.disposalVolume>0?e.disposalVolume:0,nt=e.conditioningVolume!=null&&e.conditioningVolume>0?e.conditioningVolume:0;(r.pipettes[M]==null||Ne[M]==null)&&K.push(pt({pipette:M})),(!x||!r.labware[x])&&K.push(dt({actionName:Ge,labware:x}));const Wr=W(r.labware[E]?.stack),vt=W(r.labware[x]?.stack);Object.keys(kt).length>0&&(Wr===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA||vt===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA)&&K.push(wa());const Yr=[...Object.keys(t.trashBinEntities),...Object.keys(t.wasteChuteEntities)],sr=Yr.length>0?Yr[0]:null,We=Object.values(t.labwareEntities).find(({labwareDefURI:le})=>le===Y),J=We!=null&&c.getIsTiprack(We.def),Pt=t.wasteChuteEntities[Y]!=null,we=t.trashBinEntities[Y]!=null,lt=r.tipState.pipettes[M]?.hasTip;(Y==null||J&&sr==null&&L!=="never"&&lt||!J&&!Pt&&!we)&&K.push(Rn());let Z,j;if(L==="never"){const le=r.tipState.pipettes[M]?.tiprackURI;Z=t.labwareEntities[le??""],j=Z?.labwareDefURI}else Z=Object.values(re).find(({labwareDefURI:le})=>le===H),j=H;Z==null&&(L==="never"?K.push(xt({actionName:Ge,pipette:M})):K.push(dt({actionName:Ge,labware:j})));const{def:ut=null}=Z??{},{spec:fe,name:at,pythonName:zt}=Ne[M],Ct=c.getAllLiquidClassDefs()[C===c.NONE_LIQUID_CLASS_NAME||C==null?c.WATER_LIQUID_CLASS_NAME:C].byPipette?.find(({pipetteModel:le})=>le===c.getFlexNameConversion(fe))?.byTipType.find(({tiprack:le})=>le===j)??null,{aspirate:Kr,multiDispense:or}=Ct??{},{multiWellHandling:yr}=zc({pipetteSpecs:fe,tiprackDefinition:ut,volume:ke,path:"multiDispense",numAspirateWells:1,numDispenseWells:g.length,conditioningByVolume:or?.conditioningByVolume??[],disposalByVolume:or?.disposalByVolume??[],aspirateAirGapByVolume:Kr?.retract.airGapByVolume??[]}),{numWellsToFitInTip:ir}=yr;if((!yr.isSupported||ir==null||ir===1)&&K.push(tT()),he&&V!==c.ALL){const le=ft({robotState:r,invariantContext:t,pipetteId:M,labwareId:x,wellLocationOffset:{x:y,y:A},wellTargetName:F,primaryNozzle:U,nozzleConfiguration:V});le.isSafe||K.push($t({unsafePipetteMovementReason:le.reason}));const Ye=ft({robotState:r,invariantContext:t,pipetteId:M,labwareId:E,wellLocationOffset:{x:Ce,y:Ee},wellTargetName:g[0],primaryNozzle:U,nozzleConfiguration:V});Ye.isSafe||K.push($t({unsafePipetteMovementReason:Ye.reason}))}const Ae=t.labwareEntities[x]?.def.wells[F]?.depth??null,Nt=c.getMmFromBottom(w,s,Ae),br=c.getMmFromBottom(T,_,Ae),Tr=c.getMmFromBottom(d,i,Ae);Nt!=null&&br!=null&&Nt>br&&K.push(vh()),Nt!=null&&Tr!=null&&Nt>Tr&&K.push(Ph());const Xr=[R(B,{pipetteId:M,labwareId:x,wellName:F,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})],gr=qs(M,t,j)-rt;if(Math.floor((gr-_e)/ke)===0&&K.push(os({actionName:Ge,volume:ke,maxVolume:gr,disposalVolume:_e})),K.length>0)return{errors:K};const{tipracks:Qr}=Wa(M,j,t,r,U,V),Jr=c.getByVolumeValue({liquidClass:C,pipetteSpecs:fe,tiprackDefUri:j,targetVolume:ke,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,en=ne[E]?.pythonName??kt[E]?.pythonName,Gn=ne[Y]?.pythonName??kt[Y]?.pythonName,tn=S==null?null:ne[S]?.pythonName??kt[S]?.pythonName,jt=re[x].pythonName,rn=re[E]?.pythonName,nn=(V===c.PARTIAL_COLUMN?tr({labwareDef:re[x].def,wells:[F],primaryNozzle:U}):[F])[0],an=V===c.PARTIAL_COLUMN&&g!=null&&re[E]!=null?tr({labwareDef:re[E].def,wells:g,primaryNozzle:U}):g,Wn=`${jt}[${N(nn)}]`,Yn=an.map(le=>`${rn}[${N(le)}]`).join(", 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le(m,t,r)},Cb=(e,t,r)=>{const{aspirateDelay:n,aspirateFlowRateUlSec:a,aspiratePositionReference:o,aspirateRetractDelay:s,aspirateRetractPositionReference:i,aspirateRetractSpeed:l,aspirateRetractXOffset:u,aspirateRetractYOffset:p,aspirateRetractZOffset:d,aspirateSubmergeDelay:f,aspirateSubmergePositionReference:m,aspirateSubmergeSpeed:h,aspirateSubmergeXOffset:_,aspirateSubmergeYOffset:b,aspirateSubmergeZOffset:T,aspirateXOffset:y,aspirateYOffset:I,aspirateZOffset:w,blowoutFlowRateUlSec:E,blowoutLocation:A,changeTip:L,destLabware:S,destWells:g,dispenseDelay:k,dispenseFlowRateUlSec:v,dispensePositionReference:D,dispenseRetractDelay:q,dispenseRetractPositionReference:Q,dispenseRetractSpeed:fe,dispenseRetractXOffset:_e,dispenseRetractYOffset:ne,dispenseRetractZOffset:Te,dispenseSubmergeDelay:Oe,dispenseSubmergePositionReference:Be,dispenseSubmergeSpeed:Me,dispenseSubmergeXOffset:ae,dispenseSubmergeYOffset:Re,dispenseSubmergeZOffset:We,dispenseXOffset:Fe,dispenseYOffset:Ae,dispenseZOffset:J,dropTipLocation:Z,liquidClass:N,mixBeforeAspirate:P,nozzles:$,pipette:F,preWetTip:ue,primaryNozzle:V,pushOut:G,sourceLabware:z,sourceWell:U,tipRack:j,tipTracking:me,tiprackSelected:xe,tipsSelected:rt,touchTipAfterAspirate:je,touchTipAfterAspirateMmFromEdge:he,touchTipAfterAspirateOffsetMmFromTop:nt,touchTipAfterAspirateSpeed:yt,touchTipAfterDispense:kt,touchTipAfterDispenseMmFromEdge:bt,touchTipAfterDispenseOffsetMmFromTop:Ne,touchTipAfterDispenseSpeed:at,stepNumber:Se,volume:Ce}=e,{pipetteEntities:Ue,labwareEntities:oe,trashBinEntities:se,wasteChuteEntities:Pt}=t,Ke="distribute",X=[],Ie=Ue[F]?.spec.channels!==1,Tr=oe[z]?.def.parameters.quirks?.includes("touchTipDisabled"),ot=e.aspirateAirGapVolume??0,He=e.dispenseAirGapVolume??0,Ee=e.disposalVolume!=null&&e.disposalVolume>0?e.disposalVolume:0,st=e.conditioningVolume!=null&&e.conditioningVolume>0?e.conditioningVolume:0;(r.pipettes[F]==null||Ue[F]==null)&&X.push(ft({pipette:F})),(!z||!r.labware[z])&&X.push(mt({actionName:Ke,labware:z}));const Zr=K(r.labware[S]?.stack),Nt=K(r.labware[z]?.stack);Object.keys(Pt).length>0&&(Zr===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA||Nt===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA)&&X.push(va());const Xr=[...Object.keys(t.trashBinEntities),...Object.keys(t.wasteChuteEntities)],lr=Xr.length>0?Xr[0]:null,Ze=Object.values(t.labwareEntities).find(({labwareDefURI:pe})=>pe===Z),te=Ze!=null&&c.getIsTiprack(Ze.def),Ct=t.wasteChuteEntities[Z]!=null,Le=t.trashBinEntities[Z]!=null,ct=r.tipState.pipettes[F]?.hasTip;(Z==null||te&&lr==null&&L!=="never"&&ct||!te&&!Ct&&!Le)&&X.push(Cn());let ee,W;if(L==="never"){const pe=r.tipState.pipettes[F]?.tiprackURI;ee=t.labwareEntities[pe??""],W=ee?.labwareDefURI}else ee=Object.values(oe).find(({labwareDefURI:pe})=>pe===j),W=j;ee==null&&(L==="never"?X.push(zt({actionName:Ke,pipette:F})):X.push(mt({actionName:Ke,labware:W})));const{def:pt=null}=ee??{},{spec:ye,name:it,pythonName:Gt}=Ue[F],Dt=c.getAllLiquidClassDefs()[N===c.NONE_LIQUID_CLASS_NAME||N==null?c.WATER_LIQUID_CLASS_NAME:N].byPipette?.find(({pipetteModel:pe})=>pe===c.getFlexNameConversion(ye))?.byTipType.find(({tiprack:pe})=>pe===W)??null,{aspirate:Qr,multiDispense:ur}=Dt??{},{multiWellHandling:Ir}=Jc({pipetteSpecs:ye,tiprackDefinition:pt,volume:Ce,path:"multiDispense",numAspirateWells:1,numDispenseWells:g.length,conditioningByVolume:ur?.conditioningByVolume??[],disposalByVolume:ur?.disposalByVolume??[],aspirateAirGapByVolume:Qr?.retract.airGapByVolume??[]}),{numWellsToFitInTip:cr}=Ir;if((!Ir.isSupported||cr==null||cr===1)&&X.push(yT()),Ie&&$!==c.ALL){const pe=ht({robotState:r,invariantContext:t,pipetteId:F,labwareId:z,wellLocationOffset:{x:y,y:I},wellTargetName:U,primaryNozzle:V,nozzleConfiguration:$});pe.isSafe||X.push(Bt({unsafePipetteMovementReason:pe.reason}));const Xe=ht({robotState:r,invariantContext:t,pipetteId:F,labwareId:S,wellLocationOffset:{x:Fe,y:Ae},wellTargetName:g[0],primaryNozzle:V,nozzleConfiguration:$});Xe.isSafe||X.push(Bt({unsafePipetteMovementReason:Xe.reason}))}const ve=t.labwareEntities[z]?.def.wells[U]?.depth??null,Mt=c.getMmFromBottom(w,o,ve),Er=c.getMmFromBottom(T,m,ve),gr=c.getMmFromBottom(d,i,ve);Mt!=null&&Er!=null&&Mt>Er&&X.push(Vh()),Mt!=null&&gr!=null&&Mt>gr&&X.push($h());const Jr=[R(x,{pipetteId:F,labwareId:z,wellName:U,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})],wr=Wo(F,t,W)-ot;if(Math.floor((wr-Ee)/Ce)===0&&X.push(mo({actionName:Ke,volume:Ce,maxVolume:wr,disposalVolume:Ee})),X.length>0)return{errors:X};const{tipracks:tn}=Ja(F,W,t,r,V,$),rn=c.getByVolumeValue({liquidClass:N,pipetteSpecs:ye,tiprackDefUri:W,targetVolume:Ce,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,nn=se[S]?.pythonName??Pt[S]?.pythonName,Xn=se[Z]?.pythonName??Pt[Z]?.pythonName,an=A==null?null:se[A]?.pythonName??Pt[A]?.pythonName,Wt=oe[z].pythonName,on=oe[S]?.pythonName,sn=($===c.PARTIAL_COLUMN?nr({labwareDef:oe[z].def,wells:[U],primaryNozzle:V}):[U])[0],ln=$===c.PARTIAL_COLUMN&&g!=null&&oe[S]!=null?nr({labwareDef:oe[S].def,wells:g,primaryNozzle:V}):g,Qn=`${Wt}[${C(sn)}]`,Jn=ln.map(pe=>`${on}[${C(pe)}]`).join(", 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Lr=[R(Lt,{pipetteId:M})],Wt=c.getByVolumeValue({liquidClass:C,pipetteSpecs:fe,tiprackDefUri:j,targetVolume:qe,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Yt=k!=null?[R(me,{seconds:k.seconds})]:[],cn=qe>0&&!bt&&!ta&&_e===0&&S==null?[R(Xe,{isAirGap:!0,pipetteId:M,volume:qe,flowRate:ie,...Wt>0?{correctionVolume:Wt}:{},pushOut:0}),...Yt]:[],Or=[...Xr,...cn,...ra,...Lr],pr=[R(B,{pipetteId:M,labwareId:x,wellName:F,wellLocation:Qn}),R(B,{pipetteId:M,labwareId:x,...m!=null?{speed:m}:{},wellName:F,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[s],offset:{x:y,y:A,z:w}}}),...f!=null&&f.seconds>0?[R(me,{seconds:f.seconds})]:[]],pn=oe?Dr({pipette:M,volume:Sr,times:1,aspirateFlowRateUlSec:a,dispenseFlowRateUlSec:v,aspirateDelaySeconds:n?.seconds??0,dispenseDelaySeconds:k?.seconds??0,finalPushOut:0,invariantContext:t,liquidClass:C,tiprack:j,generatePython:!1}):[],Oe=P!=null?Dr({pipette:M,volume:P.volume,times:P.times,aspirateFlowRateUlSec:a,dispenseFlowRateUlSec:v,aspirateDelaySeconds:n?.seconds,dispenseDelaySeconds:k?.seconds,finalPushOut:0,invariantContext:t,liquidClass:C,tiprack:j,generatePython:!1}):[],Kt=n!=null?[R(me,{seconds:n.seconds})]:[],Rr=Be?[R(Et,{pipetteId:M,labwareId:x,wellName:F,...pe!=null?{mmFromEdge:pe}:{},zOffsetFromTop:et,...ht!=null?{speed:ht}:{}}),...rt>0&&Mt?[R(B,{pipetteId:M,labwareId:x,wellName:F,wellLocation:ln})]:[]]:[],Tt=c.getByVolumeValue({liquidClass:C,pipetteSpecs:fe,tiprackDefUri:j,targetVolume:rt,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Xt=rt>0?[...Le,R(At,{pipetteId:M,volume:rt,flowRate:Jn,...Tt>0?{correctionVolume:Tt}:{}}),...Kt]:[],na=c.getByVolumeValue({liquidClass:C,pipetteSpecs:fe,tiprackDefUri:j,targetVolume:Ar,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,dn=c.getByVolumeValue({liquidClass:C,pipetteSpecs:fe,tiprackDefUri:j,targetVolume:nt,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,fn=nt!=null&&nt>0?[R(Xe,{pipetteId:M,volume:nt,flowRate:v,correctionVolume:dn,pushOut:0}),...Yt]:[],aa=[R(Na,{pipetteId:M,volume:Ar,flowRate:a,correctionVolume:na}),...Kt,...fn],mn=[R(B,{pipetteId:M,labwareId:x,...l!=null?{speed:l}:{},wellName:F,wellLocation:ln}),...o!=null&&o?.seconds>0?[R(me,{seconds:o.seconds})]:[]],kr=Sn(le,(Me,vr)=>{const hn=vr===0,dr=vr===le.length-1,Pr=un&&dr;let Zt=0,fr=v;hn&&rt>0?(Zt=rt,fr=Xa):!hn&&qe>0&&nt===0&&(Zt=qe,fr=ie);const oa=c.getByVolumeValue({liquidClass:C,pipetteSpecs:fe,tiprackDefUri:j,targetVolume:Zt,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Za=Ur({retractZOffset:Ie,retractPositionReference:ee,labwareId:E,labwareEntities:re,well:Me}),Vs=Za?[]:[R(B,{pipetteId:M,labwareId:E,wellName:Me,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})],Qa=Me!=null?[R(B,{pipetteId:M,labwareId:E,wellName:Me,wellLocation:Er}),...Zt>0?[R(Xe,{isAirGap:!0,pipetteId:M,volume:Zt,flowRate:fr,pushOut:0,correctionVolume:oa}),...Yt]:[],R(B,{pipetteId:M,labwareId:E,...Ve!=null?{speed:Ve}:{},wellName:Me,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[q],offset:{x:Ce,y:Ee,z:X}}}),...Pe!=null&&Pe.seconds>0?[R(me,{seconds:Pe.seconds})]:[]]:[R(Fe,{fixtureId:E,pipetteId:M,offset:{x:0,y:0,z:0}})],ia=_e===0&&dr?z:0,gt=[R(Xe,{pipetteId:M,volume:ke,flowRate:v,...ia!=null?{pushOut:ia}:{},correctionVolume:Jr}),...Yt],_n=Me!=null?[R(B,{pipetteId:M,labwareId:E,...de!=null?{speed:de}:{},wellName:Me,wellLocation:wr}),...$!=null&&$?.seconds>0?[R(me,{seconds:$.seconds})]:[]]:[],Ft=dr?[R(Dn,{pipetteId:M,flowRate:I})]:[],Ja=c.getByVolumeValue({liquidClass:C,pipetteSpecs:fe,tiprackDefUri:j,targetVolume:qe,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Ut=(la,Nb=!0)=>qe>0&&!(vr<le.length-1&&nt>0)&&!(L==="never"&&Pr&&la)?[...Nb?Vs:[],R(Lt,{pipetteId:M}),R(At,{pipetteId:M,volume:qe,flowRate:ye,...Ja>0?{correctionVolume:Ja}:{}}),...Kt]:[],It=la=>Me!=null&&Rt?[R(Et,{pipetteId:M,labwareId:E,wellName:Me,..._t!=null?{mmFromEdge:_t}:{},zOffsetFromTop:Re,...tt!=null?{speed:tt}:{}}),...Ut(la).length>0&&Za?[R(B,{pipetteId:M,labwareId:E,wellName:Me,wellLocation:wr})]:[]]:[];let Cr=[];if(S==null||!dr)Cr=[...It(!0),...Ut(!0)];else if(S===Mn)Cr=[R(B,{pipetteId:M,labwareId:E,wellName:Me,wellLocation:{origin:c.WELL_ORIGIN_TOP}}),...Ft,...It(!0),...Ut(!0)];else if(S===zr){const la=Ut(!0);Cr=[...It(!1),...Ut(!1),R(B,{pipetteId:M,labwareId:x,wellName:F,wellLocation:{origin:c.WELL_ORIGIN_TOP}}),...Ft,...Rt&&!_r?[R(Et,{pipetteId:M,labwareId:x,wellName:F,..._t!=null?{mmFromEdge:_t}:{},zOffsetFromTop:Re,...tt!=null?{speed:tt}:{}})]:[],...la.length>0?[R(B,{pipetteId:M,labwareId:x,wellName:F,wellLocation:{origin:c.WELL_ORIGIN_TOP}})]:[],...Ut(!0,!1)]}else Cr=[...It(!1),...Ut(!1),R(Fe,{pipetteId:M,fixtureId:Object.values(ne).length>0?Object.values(ne)[0].id:Object.values(kt)[0].id,offset:{x:0,y:0,z:0}}),...Ft,...Ut(!0,!1)];return[...Qa,...gt,..._n,...Cr]}),sa=J&&(Ye===yt.length-1||L==="always")?[R(Hr,{pipette:M,dropTipLocation:j,isReturnTip:J})]:[];return[...cr,...Or,...pr,...Oe,...pn,...aa,...mn,...Rr,...Xt,...kr,...sa]}),on];return 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p=`${l}_task_${i.numProfilesStarted+1}`;return u.push(O(D_,{moduleId:n,profileElements:a,blockMaxVolumeUl:o,taskId:p})),ae(u,t,r)},_A=()=>({lidOpen:!1,lidClosed:!1,setBlockTemperature:!1,deactivateBlockTemperature:!1,setLidTemperature:!1,deactivateLidTemperature:!1}),yA=(e,t)=>!e.lidOpen&&t.lidOpen?{lidOpen:!0}:{},bA=(e,t)=>e.lidOpen&&!t.lidOpen||e.lidOpen===null&&!t.lidOpen?{lidClosed:!0}:{},TA=(e,t)=>t==null?e.currentBlockActivity.type==="blockDeactivated":e.currentBlockActivity.type==="blockTargetTemp"&&e.currentBlockActivity.blockTargetTemp===t,gA=(e,t)=>{const r={...yA(e,t)},n={...bA(e,t)},a=!TA(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{..._A(),...r,...n,setBlockTemperature:o,deactivateBlockTemperature:s,setLidTemperature:u,deactivateLidTemperature:l}},gb=(e,t,r)=>{const 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dr=pe.length,Or=Ce*dr,Rr=Or+Ee+st,sa=Xe===0,dn=Xe===Tt.length-1,It=L==="always"||L==="once"&&sa,ia=c.LOW_VOLUME_PIPETTES.includes(it)?[R(Rn,{pipetteId:F,volume:Rr})]:[];let fr=[];if(It){const Ve=Ft?.shift();fr=[O(eo,{pipette:F,nozzles:$,primaryNozzle:V,dropTipLocation:te&&lr!=null?lr:Z,tipRack:W,...me===Lt&&Ve!=null&&xe!=null?{tipSelectionArgs:{tipRackId:xe,tipWell:Ve}}:{}})]}const vr=[R(Rt,{pipetteId:F})],Kt=c.getByVolumeValue({liquidClass:N,pipetteSpecs:ye,tiprackDefUri:W,targetVolume:He,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Zt=k!=null?[R(be,{seconds:k.seconds})]:[],fn=He>0&&!It&&!sa&&Ee===0&&A==null?[R(Je,{isAirGap:!0,pipetteId:F,volume:He,flowRate:ce,...Kt>0?{correctionVolume:Kt}:{},pushOut:0}),...Zt]:[],kr=[...Jr,...fn,...ia,...vr],mr=[R(x,{pipetteId:F,labwareId:z,wellName:U,wellLocation:na}),R(x,{pipetteId:F,labwareId:z,...h!=null?{speed:h}:{},wellName:U,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[o],offset:{x:y,y:I,z:w}}}),...f!=null&&f.seconds>0?[R(be,{seconds:f.seconds})]:[]],mn=ue?Ur({pipette:F,volume:Or,times:1,aspirateFlowRateUlSec:a,dispenseFlowRateUlSec:v,aspirateDelaySeconds:n?.seconds??0,dispenseDelaySeconds:k?.seconds??0,finalPushOut:0,invariantContext:t,liquidClass:N,tiprack:W,generatePython:!1}):[],Pe=P!=null?Ur({pipette:F,volume:P.volume,times:P.times,aspirateFlowRateUlSec:a,dispenseFlowRateUlSec:v,aspirateDelaySeconds:n?.seconds,dispenseDelaySeconds:k?.seconds,finalPushOut:0,invariantContext:t,liquidClass:N,tiprack:W,generatePython:!1}):[],Xt=n!=null?[R(be,{seconds:n.seconds})]:[],Pr=je?[R(St,{pipetteId:F,labwareId:z,wellName:U,...he!=null?{mmFromEdge:he}:{},zOffsetFromTop:nt,...yt!=null?{speed:yt}:{}}),...ot>0&&Ut?[R(x,{pipetteId:F,labwareId:z,wellName:U,wellLocation:pn})]:[]]:[],Et=c.getByVolumeValue({liquidClass:N,pipetteSpecs:ye,tiprackDefUri:W,targetVolume:ot,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Qt=ot>0?[...ke,R(Ot,{pipetteId:F,volume:ot,flowRate:aa,...Et>0?{correctionVolume:Et}:{}}),...Xt]:[],la=c.getByVolumeValue({liquidClass:N,pipetteSpecs:ye,tiprackDefUri:W,targetVolume:Rr,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,hn=c.getByVolumeValue({liquidClass:N,pipetteSpecs:ye,tiprackDefUri:W,targetVolume:st,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,_n=st!=null&&st>0?[R(Je,{pipetteId:F,volume:st,flowRate:v,correctionVolume:hn,pushOut:0}),...Zt]:[],ua=[R(Va,{pipetteId:F,volume:Rr,flowRate:a,correctionVolume:la}),...Xt,..._n],yn=[R(x,{pipetteId:F,labwareId:z,...l!=null?{speed:l}:{},wellName:U,wellLocation:pn}),...s!=null&&s?.seconds>0?[R(be,{seconds:s.seconds})]:[]],Nr=On(pe,(Ve,Cr)=>{const bn=Cr===0,hr=Cr===pe.length-1,Dr=dn&&hr;let Jt=0,_r=v;bn&&ot>0?(Jt=ot,_r=ro):!bn&&He>0&&st===0&&(Jt=He,_r=ce);const pa=c.getByVolumeValue({liquidClass:N,pipetteSpecs:ye,tiprackDefUri:W,targetVolume:Jt,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,no=$r({retractZOffset:Te,retractPositionReference:Q,labwareId:S,labwareEntities:oe,well:Ve}),Ko=no?[]:[R(x,{pipetteId:F,labwareId:S,wellName:Ve,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})],ao=Ve!=null?[R(x,{pipetteId:F,labwareId:S,wellName:Ve,wellLocation:Ar}),...Jt>0?[R(Je,{isAirGap:!0,pipetteId:F,volume:Jt,flowRate:_r,pushOut:0,correctionVolume:pa}),...Zt]:[],R(x,{pipetteId:F,labwareId:S,...Me!=null?{speed:Me}:{},wellName:Ve,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[D],offset:{x:Fe,y:Ae,z:J}}}),...Oe!=null&&Oe.seconds>0?[R(be,{seconds:Oe.seconds})]:[]]:[R($e,{fixtureId:S,pipetteId:F,offset:{x:0,y:0,z:0}})],da=Ee===0&&hr?G:0,gt=[R(Je,{pipetteId:F,volume:Ce,flowRate:v,...da!=null?{pushOut:da}:{},correctionVolume:rn}),...Zt],Tn=Ve!=null?[R(x,{pipetteId:F,labwareId:S,...fe!=null?{speed:fe}:{},wellName:Ve,wellLocation:Lr}),...q!=null&&q?.seconds>0?[R(be,{seconds:q.seconds})]:[]]:[],qt=hr?[R(Vn,{pipetteId:F,flowRate:E})]:[],oo=c.getByVolumeValue({liquidClass:N,pipetteSpecs:ye,tiprackDefUri:W,targetVolume:He,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Vt=(fa,Kb=!0)=>He>0&&!(Cr<pe.length-1&&st>0)&&!(L==="never"&&Dr&&fa)?[...Kb?Ko:[],R(Rt,{pipetteId:F}),R(Ot,{pipetteId:F,volume:He,flowRate:ge,...oo>0?{correctionVolume:oo}:{}}),...Xt]:[],wt=fa=>Ve!=null&&kt?[R(St,{pipetteId:F,labwareId:S,wellName:Ve,...bt!=null?{mmFromEdge:bt}:{},zOffsetFromTop:Ne,...at!=null?{speed:at}:{}}),...Vt(fa).length>0&&no?[R(x,{pipetteId:F,labwareId:S,wellName:Ve,wellLocation:Lr})]:[]]:[];let Mr=[];if(A==null||!hr)Mr=[...wt(!0),...Vt(!0)];else if(A===$n)Mr=[R(x,{pipetteId:F,labwareId:S,wellName:Ve,wellLocation:{origin:c.WELL_ORIGIN_TOP}}),...qt,...wt(!0),...Vt(!0)];else if(A===Wr){const fa=Vt(!0);Mr=[...wt(!1),...Vt(!1),R(x,{pipetteId:F,labwareId:z,wellName:U,wellLocation:{origin:c.WELL_ORIGIN_TOP}}),...qt,...kt&&!Tr?[R(St,{pipetteId:F,labwareId:z,wellName:U,...bt!=null?{mmFromEdge:bt}:{},zOffsetFromTop:Ne,...at!=null?{speed:at}:{}})]:[],...fa.length>0?[R(x,{pipetteId:F,labwareId:z,wellName:U,wellLocation:{origin:c.WELL_ORIGIN_TOP}})]:[],...Vt(!0,!1)]}else Mr=[...wt(!1),...Vt(!1),R($e,{pipetteId:F,fixtureId:Object.values(se).length>0?Object.values(se)[0].id:Object.values(Pt)[0].id,offset:{x:0,y:0,z:0}}),...qt,...Vt(!0,!1)];return[...ao,...gt,...Tn,...Mr]}),ca=te&&(Xe===Tt.length-1||L==="always")?[R(Gr,{pipette:F,dropTipLocation:W,isReturnTip:te})]:[];return[...fr,...kr,...mr,...Pe,...mn,...ua,...yn,...Pr,...Qt,...Nr,...ca]}),cn];return le(oa,t,r)},Db=(e,t,r)=>{const{timerHours:n,timerMinutes:a,timerSeconds:o,latchOpen:s,targetTemperature:i,rpm:l}=e;if(e.moduleId==null)return{errors:[re()]};const u=vt(r,e.moduleId),p=e.moduleId??"";if(u==null)return{errors:[re()]};const d=[];if(s||d.push(O(X_,{moduleId:p})),i===null?d.push(O(ec,{moduleId:p})):d.push(O($c,{moduleId:p,celsius:i})),l===null&&"targetSpeed"in u&&u.targetSpeed!==null?d.push(O(tc,{moduleId:p})):l!==null&&d.push(O(J_,{moduleId:p,rpm:l})),[n,a,o].some(m=>m!=null&&m!==0)){i!==null&&d.push(O(Gc,{moduleId:p,celsius:i}));const m=(n??0)*3600+(a??0)*60+(o??0);d.push(O(be,{seconds:m})),d.push(O(tc,{moduleId:p})),d.push(O(ec,{moduleId:p}))}return s&&d.push(O(Q_,{moduleId:p})),le(d,t,r)},Mb=(e,t,r)=>{const{moduleId:n,profileElements:a,profileTargetLidTemp:o,profileVolume:s}=e,i=Yo(r,n);if(i===null)return{errors:[re()]};const l=t.moduleEntities[n].pythonName,u=[];i.lidOpen!==!1&&u.push(O(Wc,{moduleId:n})),o!==i.lidTargetTemp&&u.push(O(Yc,{moduleId:n,celsius:o}));const 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VA=Ge(qA),Ub=(e,t,r)=>{const{aspirateAirGapVolume:n,aspirateDelay:a,aspirateFlowRateUlSec:o,aspiratePositionReference:s,aspirateRetractDelay:i,aspirateRetractPositionReference:l,aspirateRetractSpeed:u,aspirateRetractXOffset:p,aspirateRetractYOffset:d,aspirateRetractZOffset:f,aspirateSubmergeDelay:m,aspirateSubmergePositionReference:h,aspirateSubmergeSpeed:_,aspirateSubmergeXOffset:b,aspirateSubmergeYOffset:T,aspirateSubmergeZOffset:y,aspirateXOffset:I,aspirateYOffset:w,aspirateZOffset:E,blowoutFlowRateUlSec:A,blowoutLocation:L,changeTip:S,destLabware:g,destWells:k,dispenseAirGapVolume:v,dispenseDelay:D,dispenseFlowRateUlSec:q,dispensePositionReference:Q,dispenseRetractDelay:fe,dispenseRetractPositionReference:_e,dispenseRetractSpeed:ne,dispenseRetractXOffset:Te,dispenseRetractYOffset:Oe,dispenseRetractZOffset:Be,dispenseSubmergeDelay:Me,dispenseSubmergePositionReference:ae,dispenseSubmergeSpeed:Re,dispenseSubmergeXOffset:We,dispenseSubmergeYOffset:Fe,dispenseSubmergeZOffset:Ae,dispenseXOffset:J,dispenseYOffset:Z,dispenseZOffset:N,dropTipLocation:P,liquidClass:$,mixBeforeAspirate:F,mixInDestination:ue,pipette:V,preWetTip:G,primaryNozzle:z,pushOut:U,sourceLabware:j,nozzles:me,sourceWells:xe,tipRack:rt,tipTracking:je,tiprackSelected:he,tipsSelected:nt,touchTipAfterAspirate:yt,touchTipAfterAspirateMmFromEdge:kt,touchTipAfterAspirateOffsetMmFromTop:bt,touchTipAfterAspirateSpeed:Ne,touchTipAfterDispense:at,touchTipAfterDispenseMmFromEdge:Se,touchTipAfterDispenseOffsetMmFromTop:Ce,touchTipAfterDispenseSpeed:Ue,volume:oe,stepNumber:se}=e,{pipetteEntities:Pt,trashBinEntities:Ke,wasteChuteEntities:X,labwareEntities:Ie}=t,Tr=Bn(Ie,X,Ke,g),ot=Ie[j]?.def.parameters.quirks?.includes("touchTipDisabled");if(!(Tr==="labware"&&k!=null&&xe.length===k.length||(Tr==="wasteChute"||Tr==="trashBin")&&k==null&&xe.length>=1))throw 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+)`,Yt=je===Lt&&he!=null&&nt!=null&&nt.length>0?Qa({wellSets:nt,nozzles:me,channels:ve.channels,primaryNozzle:z}):null,ea=Yt!=null&&ct!=null&&me===c.PARTIAL_COLUMN?nr({labwareDef:ct?.def,wells:Yt,primaryNozzle:z}):Yt,Ft=he!=null?Ie[he]?.pythonName:null,pr=ea?.map(ce=>`${Ft}[${C(ce)}]`).join(", "),ta=[`volume=${oe}`,`source=[${sn}]`,`dest=${ln!=null?`[${ln}]`:tn}`,`new_tip=${C(Go(S))}`,...Ct?["return_tip=True",...nn!=null?[`trash_location=${nn}`]:[]]:[`trash_location=${rn}`,"keep_last_tip=True"],...ve.channels>1?["group_wells=False"]:[],...gr.filteredSortedTiprackIds.length>0?[jo({labwareEntities:Ie,tiprackIds:gr.filteredSortedTiprackIds})]:[],`liquid_class=${Jn}`,...Yt!=null&&Ft!=null?[`tips=[${pr}]`]:[]],Sr=()=>({commands:[],python:`${Er}.transfer_with_liquid_class(
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-)`}),Zn=c.getByVolumeValue({liquidClass:V,pipetteSpecs:Ae,tiprackDefUri:Z,targetVolume:j,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??s,on=c.getByVolumeValue({liquidClass:V,pipetteSpecs:Ae,tiprackDefUri:Z,targetVolume:j,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??$,Qn=c.getByVolumeValue({liquidClass:V,pipetteSpecs:Ae,tiprackDefUri:Z,targetVolume:ut,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??s,ln=c.getByVolumeValue({liquidClass:V,pipetteSpecs:Ae,tiprackDefUri:Z,targetVolume:ut,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??$,Er=LA(Ue,k);let wr=null,Jn=null;const ye=[...Er.reduce((ie,yt,Mt)=>{const[Le,De]=yt,ea=Ct.reduce((le,Ye,ur)=>{const Sr=Mt===0&&ur===0,Ar=Mt+1===Er.length,un=ur+1===Ct.length&&Ar;let bt=!1;E==="always"?bt=!0:E==="once"?bt=Sr:E==="perSource"?bt=Le!==wr:E==="perDest"&&(bt=Sr||De!==Jn);const ra=c.LOW_VOLUME_PIPETTES.includes(Nt)?[R(An,{pipetteId:U,volume:Ye})]:[];let cr=[];if(bt){const It=Gt?.shift();cr=[O(Ya,{pipette:U,primaryNozzle:x,nozzles:ce,dropTipLocation:Pt&&We!=null?We:P,tipRack:Z,...ce!=null?{nozzles:ce}:{},...Be===St&&It!=null&&pe!=null?{tipSelectionArgs:{tipRackId:pe,tipWell:It}}:{}})]}const Lr=he[H]?.def.wells[Le]?.depth??null,Wt=c.getMmFromBottom(I,o,Lr),Yt=c.getMmFromBottom(y,m,Lr),cn=c.getMmFromBottom(f,l,Lr);Wt!=null&&Yt!=null&&Wt>Yt&&_e.push(vh());const Or=Ur({retractZOffset:f,retractPositionReference:l,labwareId:H,labwareEntities:he,well:Le}),pr=!Or&&Le!=null?[R(B,{pipetteId:U,labwareId:H,wellName:Le,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})]:[],pn=Ur({retractZOffset:He,retractPositionReference:Te,labwareId:g,labwareEntities:he,well:De}),Oe=!pn&&De!=null?[R(B,{pipetteId:U,labwareId:g,wellName:De,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})]:[];Wt!=null&&cn!=null&&Wt>cn&&_e.push(Ph());const Kt=[R(B,{pipetteId:U,labwareId:H,wellName:Le,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})],Rr=[R(Lt,{pipetteId:U})],Tt=c.getByVolumeValue({liquidClass:V,pipetteSpecs:Ae,tiprackDefUri:Z,targetVolume:ut,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Xt=q!=null?[R(me,{seconds:q.seconds})]:[],na=ut>0&&!bt&&(ur>0||Mt>0)?[R(Xe,{isAirGap:!0,pipetteId:U,volume:ut,flowRate:ln,...Tt>0?{correctionVolume:Tt}:{},pushOut:0}),...Xt]:[],dn=[...Kt,...na,...ra,...Rr],fn=[R(B,{pipetteId:U,labwareId:H,wellName:Le,wellLocation:Kr}),R(B,{pipetteId:U,labwareId:H,...h!=null?{speed:h}:{},wellName:Le,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[o],offset:{x:A,y:w,z:I}}}),..._!=null&&_.seconds>0?[R(me,{seconds:_.seconds})]:[]],aa=z?Dr({pipette:U,volume:Ye,times:1,aspirateFlowRateUlSec:s,dispenseFlowRateUlSec:$,aspirateDelaySeconds:a?.seconds??0,dispenseDelaySeconds:q?.seconds??0,finalPushOut:0,invariantContext:t,liquidClass:V,tiprack:Z,generatePython:!1}):[],mn=M!=null?Dr({pipette:U,volume:M.volume,times:M.times,aspirateFlowRateUlSec:s,dispenseFlowRateUlSec:$,aspirateDelaySeconds:a?.seconds,dispenseDelaySeconds:q?.seconds,finalPushOut:0,invariantContext:t,liquidClass:V,tiprack:Z,generatePython:!1}):[],kr=a!=null?[R(me,{seconds:a.seconds})]:[],sa=ht?[R(Et,{pipetteId:U,labwareId:H,wellName:Le,...Rt!=null?{mmFromEdge:Rt}:{},zOffsetFromTop:_t,...Re!=null?{speed:Re}:{}}),...j>0&&Or?[R(B,{pipetteId:U,labwareId:H,wellName:Le,wellLocation:or})]:[]]:[],Me=c.getByVolumeValue({liquidClass:V,pipetteSpecs:Ae,tiprackDefUri:Z,targetVolume:j,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,vr=j>0?[...pr,R(At,{pipetteId:U,volume:j,flowRate:Zn,...Me>0?{correctionVolume:Me}:{}}),...kr]:[],hn=[R(Na,{pipetteId:U,volume:Ye,flowRate:s,...Zr>0?{correctionVolume:Zr}:{}}),...kr],dr=[R(B,{pipetteId:U,labwareId:H,...u!=null?{speed:u}:{},wellName:Le,wellLocation:or}),...i!=null&&i?.seconds>0?[R(me,{seconds:i.seconds})]:[]],Pr=c.getByVolumeValue({liquidClass:V,pipetteSpecs:Ae,tiprackDefUri:Z,targetVolume:j,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Zt=De!=null?[R(B,{pipetteId:U,labwareId:g,wellName:De,wellLocation:yr}),...j>0?[R(Xe,{isAirGap:!0,pipetteId:U,volume:j,flowRate:on,pushOut:0,...Pr>0?{correctionVolume:Pr}:{}}),...Xt]:[],R(B,{pipetteId:U,labwareId:g,...Se!=null?{speed:Se}:{},wellName:De,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[ee],offset:{x:X,y:Y,z:C}}}),...Ve!=null&&Ve.seconds>0?[R(me,{seconds:Ve.seconds})]:[]]:[R(Fe,{fixtureId:g,pipetteId:U,offset:{x:0,y:0,z:0}})],fr=oe!=null&&De!=null?0:F,oa=[R(Xe,{pipetteId:U,volume:Ye,flowRate:$,...fr!=null?{pushOut:fr}:{},...gr>0?{correctionVolume:gr}:{}}),...Xt],Za=oe!=null&&De!=null?Dr({pipette:U,volume:oe.volume,times:oe.times,aspirateFlowRateUlSec:s,dispenseFlowRateUlSec:$,aspirateDelaySeconds:a?.seconds,dispenseDelaySeconds:q?.seconds,finalPushOut:F,invariantContext:t,liquidClass:V,tiprack:Z,generatePython:!1}):[],Vs=De!=null?[R(B,{pipetteId:U,labwareId:g,...se!=null?{speed:se}:{},wellName:De,wellLocation:ir}),...de!=null&&de?.seconds>0?[R(me,{seconds:de.seconds})]:[]]:[],Qa=R(Dn,{pipetteId:U,flowRate:S}),ia=c.getByVolumeValue({liquidClass:V,pipetteSpecs:Ae,tiprackDefUri:Z,targetVolume:ut,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,gt=(It,Cr=!0)=>ut>0&&!(E==="never"&&un&&It)?[...Cr?Oe:[],R(Lt,{pipetteId:U}),R(At,{pipetteId:U,volume:ut,flowRate:Qn,...ia>0?{correctionVolume:ia}:{}}),...kr]:[],_n=It=>De!=null&&tt?[R(Et,{pipetteId:U,labwareId:g,wellName:De,...ge!=null?{mmFromEdge:ge}:{},zOffsetFromTop:ke,...Ne!=null?{speed:Ne}:{}}),...gt(It).length>0&&pn?[R(B,{pipetteId:U,labwareId:g,wellName:De,wellLocation:ir})]:[]]:[];let Ft=[];switch(L){case null:case void 0:Ft=[..._n(!0),...gt(!0)];break;case Mn:Ft=[Qa,..._n(!0),...gt(!0)];break;case zr:Ft=[..._n(!0),...gt(!1),R(B,{pipetteId:U,labwareId:H,wellName:Le,wellLocation:{origin:c.WELL_ORIGIN_TOP}}),Qa,...tt&&!rt?[R(Et,{pipetteId:U,labwareId:H,wellName:Le,...ge!=null?{mmFromEdge:ge}:{},zOffsetFromTop:ke,...Ne!=null?{speed:Ne}:{}})]:[],...gt(!0).length>0?[R(B,{pipetteId:U,labwareId:H,wellName:Le,wellLocation:{origin:c.WELL_ORIGIN_TOP}})]:[],...gt(!0,!1)];break;default:L in Ge?Ft=[..._n(!1),...gt(!1),R(cb,{pipetteId:U,flowRate:S,trashId:L}),...gt(!0,!1)]:L in K&&(Ft=[R(pb,{pipetteId:U,flowRate:S,wasteChuteId:L}),...gt(!0,!1)]);break}const Ja=Pt&&(un||E==="always")?[R(Hr,{pipette:U,dropTipLocation:Z,isReturnTip:Pt})]:[],Ut=[...cr,...dn,...fn,...mn,...aa,...hn,...dr,...sa,...vr,...Zt,...oa,...Za,...Vs,...Ft,...Ja];return wr=Le,Jn=De,[...le,...Ut]},[]);return[...ie,...ea]},[]),Ir];return ae(ye,t,r)},Eb=(e,t,r)=>ae([O(Da,{moduleId:e.moduleId,commandCreatorFnName:"vacuumCloseVent"}),O(Nc,{...e,commandCreatorFnName:"vacuumSetPumpPower"})],t,r),wb=(e,t,r)=>ae([O(Da,{moduleId:e.moduleId,commandCreatorFnName:"vacuumCloseVent"}),O(Dc,{...e,commandCreatorFnName:"vacuumSetPumpPressure"})],t,r),Sb=(e,t,r)=>{const{ventAfter:n}=e;return ae([O(Da,{moduleId:e.moduleId,commandCreatorFnName:"vacuumCloseVent"}),O(Mc,{...e,commandCreatorFnName:"vacuumStartRunProfile",ventAfter:n})],t,r)},Ab=(e,t,r)=>{const n=`[${e.task_ids.join(", ")}]`,a=`${be}.wait_for_tasks(${n})`;return{commands:[{key:D(),commandType:"waitForTasks",params:e}],python:a}},Lb=(e,t,r)=>{const{waitCondition:n}=e;return n==="thermocyclerProfileComplete"?OA(e,t,r):n==="vacuumProfileComplete"||n==="vacuumStateComplete"?RA(e,t,r):{errors:[cT(n)]}},OA=(e,t,r)=>{const{moduleId:n}=e,a=[],s=$s(r,n);if(s==null)return{errors:[Q()]};if(s.currentBlockActivity.type!=="profile")return{errors:[dp()]};const{taskId:o}=s.currentBlockActivity;return o==null?{errors:[dp()]}:(a.push(O(Ab,{task_ids:[o]})),ae(a,t,r))},RA=(e,t,r)=>{const{moduleId:n}=e,a=[],s=it(r,n);if(s==null)return{errors:[Q()]};if(s.currentPumpActivity.type!=="timedHold"&&s.currentPumpActivity.type!=="profile")return{errors:[uT()]};const o=s.currentPumpActivity.taskId;return a.push(O(Ab,{task_ids:[o]})),ae(a,t,r)};var Bu,Sh;function kA(){if(Sh)return Bu;Sh=1;var e=Ty(),t=1,r=4;function n(a){return e(a,t|r)}return Bu=n,Bu}var vA=kA();const PA=xe(vA),Ob=["A1","B1","C1","D1","E1","F1","G1","H1","A2","B2","C2","D2","E2","F2","G2","H2","A3","B3","C3","D3","E3","F3","G3","H3","A4","B4","C4","D4","E4","F4","G4","H4","A5","B5","C5","D5","E5","F5","G5","H5","A6","B6","C6","D6","E6","F6","G6","H6","A7","B7","C7","D7","E7","F7","G7","H7","A8","B8","C8","D8","E8","F8","G8","H8","A9","B9","C9","D9","E9","F9","G9","H9","A10","B10","C10","D10","E10","F10","G10","H10","A11","B11","C11","D11","E11","F11","G11","H11","A12","B12","C12","D12","E12","F12","G12","H12"],Vr="p300SingleId",ba="p300MultiId",ac="p100096Id",sc="sourcePlateId",oc="destPlateId",ic="troughId",CA="A1",NA="tiprack1Id",DA={isAirGap:!0},rs=c.fixture96Plate,Ah=c.fixture12Trough,ns=c.fixtureTiprack10ul,qt=c.fixtureTiprack300ul,yn=c.fixtureTiprack1000ul,as=c.fixtureTiprackAdapter,Rb={OT_PD_DISABLE_MODULE_RESTRICTIONS:!1};function kb(e){return Ob.reduce((t,r)=>({...t,[r]:e?Ra:ue}),{})}function MA(e,t){return Array.from("ABCDEFGH").map(r=>`${r}${e}`).reduce((r,n)=>({...r,[n]:t}),{})}function vb(){const e={[sc]:{id:sc,pythonName:"mock_source_plate",labwareDefURI:c.getLabwareDefURI(rs),def:rs},[oc]:{id:oc,pythonName:"mock_dest_plate",labwareDefURI:c.getLabwareDefURI(rs),def:rs},[ic]:{id:ic,pythonName:"mock_trough",labwareDefURI:c.getLabwareDefURI(Ah),def:Ah},tiprack1Id:{id:"tiprack1Id",pythonName:"mock_tip_rack_1",labwareDefURI:c.getLabwareDefURI(qt),def:qt},tiprack2Id:{id:"tiprack2Id",pythonName:"mock_tip_rack_2",labwareDefURI:c.getLabwareDefURI(qt),def:qt},tiprack3Id:{id:"tiprack3Id",pythonName:"mock_tip_rack_3",labwareDefURI:c.getLabwareDefURI(qt),def:qt},tiprack4AdapterId:{id:"tiprack4AdapterId",pythonName:"mock_adapter_4",labwareDefURI:c.getLabwareDefURI(as),def:as},tiprack5AdapterId:{id:"tiprack5AdapterId",pythonName:"mock_adapter_5",labwareDefURI:c.getLabwareDefURI(as),def:as},tiprack4Id:{id:"tiprack4Id",pythonName:"mock_tip_rack_4",labwareDefURI:c.getLabwareDefURI(yn),def:yn},tiprack5Id:{id:"tiprack5Id",pythonName:"mock_tip_rack_5",labwareDefURI:c.getLabwareDefURI(yn),def:yn}},t={},r={[Hu]:{id:Hu,location:"cutoutA3",pythonName:"trash_bin_1"}},n={p10SingleId:{name:"p10_single",id:"p10SingleId",pythonName:"mock_pipette_p10",tiprackDefURI:[c.getLabwareDefURI(ns)],tiprackLabwareDef:[ns],spec:c.fixtureP10SingleV2Specs},p10MultiId:{name:"p10_multi",id:"p10MultiId",tiprackDefURI:[c.getLabwareDefURI(ns)],tiprackLabwareDef:[ns],spec:c.fixtureP10MultiV2Specs,pythonName:"mock_pipette_p10_multi"},[Vr]:{name:"p300_single",id:Vr,tiprackDefURI:[c.getLabwareDefURI(qt)],tiprackLabwareDef:[qt],spec:c.fixtureP300SingleV2Specs,pythonName:"mock_pipette"},[ba]:{name:"p300_multi",id:ba,tiprackDefURI:[c.getLabwareDefURI(qt)],tiprackLabwareDef:[qt],spec:c.fixtureP300MultiV2Specs,pythonName:"mock_pipette_p300_multi"},[ac]:{name:"p1000_96",id:ac,tiprackDefURI:[c.getLabwareDefURI(yn)],tiprackLabwareDef:[yn],spec:c.fixtureP100096V2Specs,pythonName:"mock_pipette_p1000_96"}};return{labwareEntities:e,moduleEntities:t,pipetteEntities:n,trashBinEntities:r,wasteChuteEntities:{},stagingAreaEntities:{},gripperEntities:{},liquidEntities:{},runtimeParameters:{},config:Rb}}const Gr=e=>{const{invariantContext:t,labwareLocations:r,moduleLocations:n,pipetteLocations:a,tiprackSetting:s}=e,o=Bc({invariantContext:t,labwareLocations:r,moduleLocations:n||{},pipetteLocations:a});return o.tipState.tipracks=rr(s,i=>kb(i)),o},jn=()=>({pipetteLocations:{[Vr]:{mount:"left",tiprackId:"tiprack1Id"},[ba]:{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:{}}),Pb=()=>({pipetteLocations:{[Vr]:{mount:"left"},[ba]:{mount:"right"}},labwareLocations:{tiprack1Id:{stack:["tiprack1Id","B1"]},tiprack2Id:{stack:["tiprack2Id","A2"]},sourcePlateId:{stack:["sourcePlateId","offDeck"]},destPlateId:{stack:["destPlateId","C2"]}},moduleLocations:{}}),Cb=e=>Gr({...jn(),invariantContext:e,tiprackSetting:{tiprack1Id:!0,tiprack2Id:!0}}),FA=e=>Gr({...Pb(),invariantContext:e,tiprackSetting:{tiprack1Id:!0,tiprack2Id:!0}}),UA=e=>({robotState:Cb(e),warnings:[]}),qA=e=>{const t=Gr({...jn(),invariantContext:e,tiprackSetting:{tiprack1Id:!0,tiprack2Id:!0}});return t.tipState.pipettes[Vr]={hasTip:!0,tiprackURI:"tiprack1Id"},t},$A=e=>{const t=Gr({...jn(),invariantContext:e,tiprackSetting:{tiprack1Id:!0}});return t.tipState.pipettes[Vr]={hasTip:!0,tiprackURI:"tiprack1Id"},t.tipState.tipracks.tiprack1Id.A1=ue,t},VA=e=>Gr({...jn(),invariantContext:e,tiprackSetting:{tiprack1Id:!1,tiprack2Id:!1}}),BA=({temperatureModuleId:e,thermocyclerId:t})=>{const r=vb();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=Gr({...jn(),invariantContext:r,tiprackSetting:{tiprack1Id:!0}});return n.modules={[e]:{slot:"3",moduleState:{type:c.TEMPERATURE_MODULE_TYPE,status:Oa,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}},xA=(e,t,r,n)=>{const a=PA(e);return a.modules[t].moduleState={type:c.TEMPERATURE_MODULE_TYPE,targetTemperature:n,status:r},a};exports.ABSORBANCE_READER_INITIAL_STATE=$h;exports.AIR=je;exports.AIR_GAP_META=DA;exports.AIR_GAP_OFFSET_FROM_TOP=xu;exports.AUTOMATIC=cc;exports.BOTTOM_UP_LABWARE_POOL_KEYS=Jt;exports.BOTTOM_UP_STORED_LABWARE_URI_KEYS=gT;exports.CLEAN=Ra;exports.COLUMN_4_SLOTS=ve;exports.CUSTOM_LABWARE_DICT_NAME=As;exports.DEFAULT_BLOWOUT_WELL=CA;exports.DEFAULT_CONFIG=Rb;exports.DEFAULT_PIPETTE=Vr;exports.DEST_LABWARE=oc;exports.DEST_WELL_BLOWOUT_DESTINATION=Mn;exports.DIRTY=Qt;exports.EMPTY=ue;exports.FAKE_HOPPER_LOCATION_MAP=Wh;exports.FIXED_TRASH_ID=Hu;exports.FLEX_STACKER_MODULE_INITIAL_STATE=Bh;exports.FLEX_TRASH_DEF_URI=bT;exports.GRIPPER_LOCATION=zh;exports.HEATERSHAKER_MODULE_INITIAL_STATE=qh;exports.HOPPER_FAKE_LOCATIONS=Gh;exports.HOPPER_STACKER_LOCATION=Ze;exports.INDENT=Ma;exports.MAGNETIC_BLOCK_INITIAL_STATE=Vh;exports.MAGNETIC_MODULE_INITIAL_STATE=Mh;exports.MANUAL=St;exports.MIXED_WELL_COLOR=Vy;exports.MODULES_WITH_COLLISION_ISSUES=Dh;exports.MODULE_INITIAL_STATE_BY_TYPE=Hh;exports.MULTI_PIPETTE=ba;exports.OFF_DECK=Ln;exports.OT2_TC_SLOTS=TT;exports.OT_2_TRASH_DEF_URI=yT;exports.PAPI_VERSION=xy;exports.PD_APPLICATION_VERSION=MS;exports.PIPETTE_96=ac;exports.PROTOCOL_CONTEXT_NAME=be;exports.SLOT_LOCATIONS_TO_FAKE_HOPPER_LOCATIONS=IT;exports.SOURCE_LABWARE=sc;exports.SOURCE_WELL_BLOWOUT_DESTINATION=zr;exports.STAGING_AREA_SLOTS=jh;exports.TEMPERATURE_APPROACHING_TARGET=uc;exports.TEMPERATURE_AT_TARGET=lc;exports.TEMPERATURE_DEACTIVATED=Oa;exports.TEMPERATURE_MODULE_INITIAL_STATE=Fh;exports.THERMOCYCLER_MODULE_INITIAL_STATE=Uh;exports.TIPRACK_1=NA;exports.TOUCHED_PIPETTABLE_LABWARE=rc;exports.TROUGH_LABWARE=ic;exports.VACUUM_AT_TARGET=vT;exports.VACUUM_DEACTIVATED=kT;exports.VACUUM_DOCK_ADDRESSABLE_AREA=Yh;exports.VACUUM_DOCK_DISPLAY_LOCATION=Xh;exports.VACUUM_DOCK_LOCATION=pc;exports.VACUUM_MODE_POWER=zu;exports.VACUUM_MODE_PRESSURE=ju;exports.VACUUM_MODULE_INITIAL_STATE=xh;exports.VACUUM_PROGRAM_PROFILE=wT;exports.VACUUM_PROGRAM_STATE=ET;exports.VACUUM_SPACER_LOAD_NAMES=Kh;exports.VACUUM_STATE_PUMP_OFF=ST;exports.VACUUM_STATE_PUMP_ON=AT;exports.VACUUM_STATE_VENT=LT;exports.VACUUM_VENT_CLOSED=ka;exports.VACUUM_VENT_OPEN=dc;exports.VACUUM_VENT_SET_CLOSED=RT;exports.VACUUM_VENT_SET_OPEN=OT;exports.ZERO_OFFSET=wt;exports._getNextTip=ib;exports._wellContentsForLabware=AS;exports.absorbanceReaderCloseInitialize=lb;exports.absorbanceReaderCloseLid=ws;exports.absorbanceReaderCloseRead=ub;exports.absorbanceReaderCollision=Ua;exports.absorbanceReaderInitialize=g_;exports.absorbanceReaderOpenLid=I_;exports.absorbanceReaderRead=E_;exports.absorbanceReaderStateGetter=zn;exports.airGapLocationHelper=wI;exports.aspirate=nI;exports.assignContainsAmongSiblings=sp;exports.blowOutInWell=Rc;exports.captureImage=w_;exports.column4StagingSlotIdFromFlexStackerShuttleAddressableArea=ny;exports.commandCreatorsTimeline=aS;exports.comment=S_;exports.consolidate=_b;exports.constructInvariantContextFromAnalysis=cS;exports.createEmptyLiquidState=Z_;exports.createStagingAreaForInvariantContext=Ku;exports.createTipLiquidState=Q_;exports.curryCommandCreator=O;exports.curryWithoutPython=R;exports.deactivateTemperature=L_;exports.deckSlotKeyForFlexStackerShuttleAddressableArea=LI;exports.delay=me;exports.delayLocationHelper=SI;exports.disengageMagnet=O_;exports.dispense=kc;exports.dispenseLocationHelper=II;exports.distribute=yb;exports.dropTip=Hr;exports.dropTipInPlace=Ss;exports.dropTipInTrash=fb;exports.dropTipInWasteChute=mb;exports.engageMagnet=R_;exports.enrichRobotStateForStackGraphTraversals=cw;exports.flexStackerEmpty=k_;exports.flexStackerFillItems=v_;exports.flexStackerRetrieve=P_;exports.flexStackerStateGetter=mt;exports.flexStackerStore=C_;exports.formatChangeTipArg=Us;exports.formatPyDict=Fr;exports.formatPyList=Ls;exports.formatPyStr=N;exports.formatPyTuple=Cc;exports.formatPyValue=st;exports.formatPyWellLocation=Bt;exports.getAddressableAreaFromModule=ap;exports.getAddressableAreaNameFromLabwareLocation=aw;exports.getAllLargestStacks=Ay;exports.getAllProvidedAddressableAreasFromDeckConfig=Ly;exports.getAllWellsForLabware=$y;exports.getChunkForIndentingLists=Os;exports.getCommandCreatorFromStepArgs=oA;exports.getCustomLiquidClassProperties=Ms;exports.getCutoutFromSlot=tb;exports.getCutoutIdByAddressableArea=G_;exports.getDefaultPrimaryNozzle=cs;exports.getDefineLiquids=Yy;exports.getDispenseAirGapLocation=J_;exports.getFlexStackerCutoutBaseDeckSlotId=Hc;exports.getFlexStackerShuttleAddressableArea=Rs;exports.getFullStackFromLabwares=ks;exports.getFullStackFromNodeTopDownRecursive=Ds;exports.getHasNoWellsFromCCArgs=oS;exports.getInitialRobotStateStandard=Cb;exports.getInitialRobotStateWithOffDeckLabwareStandard=FA;exports.getIsHeaterShakerEastWestMultiChannelPipette=xn;exports.getIsHeaterShakerEastWestWithLatchOpen=Bn;exports.getIsHeaterShakerNorthSouthOfNonTiprackWithMultiChannelPipette=xa;exports.getIsInPipettableLocation=ly;exports.getIsLabwareCompatibleWithStack=sy;exports.getIsRetractSafeForAirGap=Ur;exports.getIsSafePickupWithinTiprack=up;exports.getIsSlotAHopper=oy;exports.getIsSlotAVacuumDock=ma;exports.getIsSpaceInHopper=Wc;exports.getIsTallLabwareEastWestOfHeaterShaker=Uy;exports.getIsVacuumSpacer=j_;exports.getLabwareHasLid=iy;exports.getLabwareHasLiquid=ty;exports.getLabwareIdOnShuttle=jc;exports.getLabwareSlot=qn;exports.getLargestStackContainingLabware=Sy;exports.getLargestStackInSlot=fa;exports.getLiquidClassName=ja;exports.getLiquidIdsOnLabware=RS;exports.getLiquidIdsOnLabwareStack=OS;exports.getLoadAdapters=zy;exports.getLoadLabware=Gy;exports.getLoadLidStacks=jy;exports.getLoadLiquidClasses=Xy;exports.getLoadLiquids=Ky;exports.getLoadModules=Hy;exports.getLoadPipettes=Wy;exports.getLoadTrashBins=Zy;exports.getLoadWasteChute=Qy;exports.getLocationTotalVolume=mr;exports.getModuleHasLiveTask=$n;exports.getModuleIdFromRobotStateStack=Fa;exports.getModuleLocationSlot=AI;exports.getModuleState=Ot;exports.getNearestParentInStack=ry;exports.getNextRobotStateAndWarnings=ip;exports.getNextRobotStateAndWarningsSingleCommand=Fy;exports.getNextTiprack=Wa;exports.getNodeParentModuleId=rw;exports.getNozzleConfig=lp;exports.getPipetteCenteringFullOffset=ab;exports.getPipetteIdFromCCArgs=sS;exports.getPipetteMovementSafetyStatus=ft;exports.getPipetteWithTipMaxVol=qs;exports.getProvidedAddressableAreasExposed=sw;exports.getPythonAssignTipRacksString=Fs;exports.getResultingTimelineFrameFromRunCommands=dS;exports.getRobotInitialStateNoTipsRemain=VA;exports.getRobotStateAndWarningsStandard=UA;exports.getRobotStatePickedUpTipStandard=$A;exports.getRobotStateWithTipStandard=qA;exports.getRunTimeParameters=jS;exports.getSetStoredLabware=eb;exports.getSlotInLocationStack=W;exports.getStackForLabwareLocation=Yu;exports.getStackedOnNodeFromPdStack=Oy;exports.getStateAndContextTempTCModules=BA;exports.getTargetTipsFromWellSets=Ga;exports.getThermocyclerProfileRepetitionsForPython=sb;exports.getTipColumn=MA;exports.getTipColumnIndex=nc;exports.getTipColumnName=cp;exports.getTipRowName=gn;exports.getTiprackHasTips=ey;exports.getTiprackTipstate=kb;exports.getTopLocationInStack=xc;exports.getTopmostLabwareOnModuleFromStackRobotState=RI;exports.getTransferPlanAndReferenceVolumes=zc;exports.getTrashBinAddressableAreaName=$c;exports.getTrashLocationFromAddressableAreaName=Y_;exports.getTrashOrLabware=Fn;exports.getVolumesPerLiquid=LS;exports.getWasteChuteAddressableAreaNamePip=W_;exports.getWellsForTips=Vc;exports.heaterShaker=bb;exports.indentPyLines=G;exports.labwareMatchesLabwareInHopper=Gc;exports.makeContext=vb;exports.makeInitialRobotState=Bc;exports.makeState=Gr;exports.makeStateArgsLabwareOffDeck=Pb;exports.makeStateArgsStandard=jn;exports.mergeLiquid=hr;exports.mix=hb;exports.mixBlowoutLocationHelper=X_;exports.modulePipetteCollision=Vn;exports.moveHelper=EI;exports.moveLabware=N_;exports.moveToAddressableArea=Fe;exports.moveToAddressableAreaForDropTip=vc;exports.pipetteAdjacentHeaterShakerWhileShaking=Hn;exports.pipetteIntoHeaterShakerLatchOpen=Ha;exports.pipetteIntoHeaterShakerWhileShaking=za;exports.pythonCustomLabwareDict=HS;exports.pythonDefRun=xS;exports.pythonImports=FS;exports.pythonMetadata=US;exports.pythonRequirements=qS;exports.reduceCommandCreators=ae;exports.repeatArray=K_;exports.replaceTip=Ya;exports.resolveBooleanRuntimeValue=CI;exports.resolveDeckSlotKeyForLabwareStackInSlot=ay;exports.resolveNumericRuntimeValue=vI;exports.resolveStringRuntimeValue=PI;exports.robotWithStatusAndTemp=xA;exports.setTemperature=Pc;exports.sortLabwareBySlot=ob;exports.splitLiquid=er;exports.stepCommands=Jy;exports.swatchColors=By;exports.thermocyclerPipetteCollision=Va;exports.thermocyclerProfileStep=Tb;exports.thermocyclerStateGetter=$s;exports.thermocyclerStateStep=gb;exports.tiprackWellNamesFlat=Ob;exports.touchTip=Et;exports.transfer=Ib;exports.unrollThermocyclerProfile=pp;exports.uuid=D;exports.vacuumCloseVent=Da;exports.vacuumCloseVentSetPumpPower=Eb;exports.vacuumCloseVentSetPumpPressure=wb;exports.vacuumCloseVentStartProfile=Sb;exports.vacuumModuleStateGetter=it;exports.vacuumOpenVent=M_;exports.vacuumSetPumpPower=Nc;exports.vacuumSetPumpPressure=Dc;exports.vacuumStartRunProfile=Mc;exports.vacuumStopPump=U_;exports.waitForModuleTask=Lb;exports.waitForTemperature=Fc;exports.wellFillFromWellContents=vS;
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zA=Ge(HA),Hb=["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"],Hr="p300SingleId",Sa="p300MultiId",fc="p100096Id",mc="sourcePlateId",hc="destPlateId",_c="troughId",jA="A1",GA="tiprack1Id",WA={isAirGap:!0},lo=c.fixture96Plate,Dh=c.fixture12Trough,uo=c.fixtureTiprack10ul,$t=c.fixtureTiprack300ul,In=c.fixtureTiprack1000ul,co=c.fixtureTiprackAdapter,zb={OT_PD_DISABLE_MODULE_RESTRICTIONS:!1};function jb(e){return Hb.reduce((t,r)=>({...t,[r]:e?Da:de}),{})}function YA(e,t){return Array.from("ABCDEFGH").map(r=>`${r}${e}`).reduce((r,n)=>({...r,[n]:t}),{})}function Gb(){const e={[mc]:{id:mc,pythonName:"mock_source_plate",labwareDefURI:c.getLabwareDefURI(lo),def:lo},[hc]:{id:hc,pythonName:"mock_dest_plate",labwareDefURI:c.getLabwareDefURI(lo),def:lo},[_c]:{id:_c,pythonName:"mock_trough",labwareDefURI:c.getLabwareDefURI(Dh),def:Dh},tiprack1Id:{id:"tiprack1Id",pythonName:"mock_tip_rack_1",labwareDefURI:c.getLabwareDefURI($t),def:$t},tiprack2Id:{id:"tiprack2Id",pythonName:"mock_tip_rack_2",labwareDefURI:c.getLabwareDefURI($t),def:$t},tiprack3Id:{id:"tiprack3Id",pythonName:"mock_tip_rack_3",labwareDefURI:c.getLabwareDefURI($t),def:$t},tiprack4AdapterId:{id:"tiprack4AdapterId",pythonName:"mock_adapter_4",labwareDefURI:c.getLabwareDefURI(co),def:co},tiprack5AdapterId:{id:"tiprack5AdapterId",pythonName:"mock_adapter_5",labwareDefURI:c.getLabwareDefURI(co),def:co},tiprack4Id:{id:"tiprack4Id",pythonName:"mock_tip_rack_4",labwareDefURI:c.getLabwareDefURI(In),def:In},tiprack5Id:{id:"tiprack5Id",pythonName:"mock_tip_rack_5",labwareDefURI:c.getLabwareDefURI(In),def:In}},t={},r={[Xu]:{id:Xu,location:"cutoutA3",pythonName:"trash_bin_1"}},n={p10SingleId:{name:"p10_single",id:"p10SingleId",pythonName:"mock_pipette_p10",tiprackDefURI:[c.getLabwareDefURI(uo)],tiprackLabwareDef:[uo],spec:c.fixtureP10SingleV2Specs},p10MultiId:{name:"p10_multi",id:"p10MultiId",tiprackDefURI:[c.getLabwareDefURI(uo)],tiprackLabwareDef:[uo],spec:c.fixtureP10MultiV2Specs,pythonName:"mock_pipette_p10_multi"},[Hr]:{name:"p300_single",id:Hr,tiprackDefURI:[c.getLabwareDefURI($t)],tiprackLabwareDef:[$t],spec:c.fixtureP300SingleV2Specs,pythonName:"mock_pipette"},[Sa]:{name:"p300_multi",id:Sa,tiprackDefURI:[c.getLabwareDefURI($t)],tiprackLabwareDef:[$t],spec:c.fixtureP300MultiV2Specs,pythonName:"mock_pipette_p300_multi"},[fc]:{name:"p1000_96",id:fc,tiprackDefURI:[c.getLabwareDefURI(In)],tiprackLabwareDef:[In],spec:c.fixtureP100096V2Specs,pythonName:"mock_pipette_p1000_96"}};return{labwareEntities:e,moduleEntities:t,pipetteEntities:n,trashBinEntities:r,wasteChuteEntities:{},stagingAreaEntities:{},gripperEntities:{},liquidEntities:{},runtimeParameters:{},config:zb}}const Kr=e=>{const{invariantContext:t,labwareLocations:r,moduleLocations:n,pipetteLocations:a,tiprackSetting:o}=e,s=Xc({invariantContext:t,labwareLocations:r,moduleLocations:n||{},pipetteLocations:a});return s.tipState.tipracks=ar(o,i=>jb(i)),s},Zn=()=>({pipetteLocations:{[Hr]:{mount:"left",tiprackId:"tiprack1Id"},[Sa]:{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:{}}),Wb=()=>({pipetteLocations:{[Hr]:{mount:"left"},[Sa]:{mount:"right"}},labwareLocations:{tiprack1Id:{stack:["tiprack1Id","B1"]},tiprack2Id:{stack:["tiprack2Id","A2"]},sourcePlateId:{stack:["sourcePlateId","offDeck"]},destPlateId:{stack:["destPlateId","C2"]}},moduleLocations:{}}),Yb=e=>Kr({...Zn(),invariantContext:e,tiprackSetting:{tiprack1Id:!0,tiprack2Id:!0}}),KA=e=>Kr({...Wb(),invariantContext:e,tiprackSetting:{tiprack1Id:!0,tiprack2Id:!0}}),ZA=e=>({robotState:Yb(e),warnings:[]}),XA=e=>{const t=Kr({...Zn(),invariantContext:e,tiprackSetting:{tiprack1Id:!0,tiprack2Id:!0}});return t.tipState.pipettes[Hr]={hasTip:!0,tiprackURI:"tiprack1Id"},t},QA=e=>{const t=Kr({...Zn(),invariantContext:e,tiprackSetting:{tiprack1Id:!0}});return t.tipState.pipettes[Hr]={hasTip:!0,tiprackURI:"tiprack1Id"},t.tipState.tipracks.tiprack1Id.A1=de,t},JA=e=>Kr({...Zn(),invariantContext:e,tiprackSetting:{tiprack1Id:!1,tiprack2Id:!1}}),eL=({temperatureModuleId:e,thermocyclerId:t})=>{const r=Gb();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=Kr({...Zn(),invariantContext:r,tiprackSetting:{tiprack1Id:!0}});return n.modules={[e]:{slot:"3",moduleState:{type:c.TEMPERATURE_MODULE_TYPE,status:Ca,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}},tL=(e,t,r,n)=>{const a=zA(e);return a.modules[t].moduleState={type:c.TEMPERATURE_MODULE_TYPE,targetTemperature:n,status:r},a};exports.ABSORBANCE_READER_INITIAL_STATE=Yh;exports.AIR=Ye;exports.AIR_GAP_META=WA;exports.AIR_GAP_OFFSET_FROM_TOP=Zu;exports.AUTOMATIC=Tc;exports.BACK_LEFT_NOZZLES=u_;exports.BOTTOM_UP_LABWARE_POOL_KEYS=tr;exports.BOTTOM_UP_STORED_LABWARE_URI_KEYS=FT;exports.CLEAN=Da;exports.COLUMN_4_SLOTS=De;exports.CUSTOM_LABWARE_DICT_NAME=Co;exports.DEFAULT_BLOWOUT_WELL=jA;exports.DEFAULT_CONFIG=zb;exports.DEFAULT_PIPETTE=Hr;exports.DEST_LABWARE=hc;exports.DEST_WELL_BLOWOUT_DESTINATION=$n;exports.DIRTY=er;exports.EMPTY=de;exports.FAKE_HOPPER_LOCATION_MAP=r_;exports.FIXED_TRASH_ID=Xu;exports.FLEX_STACKER_MODULE_INITIAL_STATE=Zh;exports.FLEX_TRASH_DEF_URI=DT;exports.GRIPPER_LOCATION=Jh;exports.HEATERSHAKER_MODULE_INITIAL_STATE=Wh;exports.HOPPER_FAKE_LOCATIONS=t_;exports.HOPPER_STACKER_LOCATION=et;exports.INDENT=Ba;exports.MAGNETIC_BLOCK_INITIAL_STATE=Kh;exports.MAGNETIC_MODULE_INITIAL_STATE=zh;exports.MANUAL=Lt;exports.MAX_STACKABLE_VACUUM_SPACERS=o_;exports.MIXED_WELL_COLOR=rb;exports.MODULES_WITH_COLLISION_ISSUES=Hh;exports.MODULE_INITIAL_STATE_BY_TYPE=Qh;exports.MULTI_PIPETTE=Sa;exports.NOZZLE_STYLES=i_;exports.OFF_DECK=vn;exports.OT2_TC_SLOTS=MT;exports.OT_2_TRASH_DEF_URI=CT;exports.PAPI_VERSION=ab;exports.PD_APPLICATION_VERSION=YS;exports.PIPETTE_96=fc;exports.PRIMARY_NOZZLES=l_;exports.PROTOCOL_CONTEXT_NAME=we;exports.SLOT_LOCATIONS_TO_FAKE_HOPPER_LOCATIONS=UT;exports.SOURCE_LABWARE=mc;exports.SOURCE_WELL_BLOWOUT_DESTINATION=Wr;exports.STAGING_AREA_SLOTS=e_;exports.TEMPERATURE_APPROACHING_TARGET=bc;exports.TEMPERATURE_AT_TARGET=yc;exports.TEMPERATURE_DEACTIVATED=Ca;exports.TEMPERATURE_MODULE_INITIAL_STATE=jh;exports.THERMOCYCLER_MODULE_INITIAL_STATE=Gh;exports.TIPRACK_1=GA;exports.TOUCHED_PIPETTABLE_LABWARE=pc;exports.TROUGH_LABWARE=_c;exports.VACUUM_AT_TARGET=GT;exports.VACUUM_DEACTIVATED=jT;exports.VACUUM_DOCK_ADDRESSABLE_AREA=n_;exports.VACUUM_DOCK_DISPLAY_LOCATION=s_;exports.VACUUM_DOCK_LOCATION=Ic;exports.VACUUM_MODE_POWER=Qu;exports.VACUUM_MODE_PRESSURE=Ju;exports.VACUUM_MODULE_INITIAL_STATE=Xh;exports.VACUUM_PROGRAM_PROFILE=VT;exports.VACUUM_PROGRAM_STATE=qT;exports.VACUUM_SPACER_LOAD_NAMES=a_;exports.VACUUM_STATE_PUMP_OFF=$T;exports.VACUUM_STATE_PUMP_ON=BT;exports.VACUUM_STATE_VENT=xT;exports.VACUUM_VENT_CLOSED=Ma;exports.VACUUM_VENT_OPEN=Ec;exports.VACUUM_VENT_SET_CLOSED=zT;exports.VACUUM_VENT_SET_OPEN=HT;exports.ZERO_OFFSET=At;exports._getNextTip=wb;exports._wellContentsForLabware=qS;exports.absorbanceReaderCloseInitialize=Sb;exports.absorbanceReaderCloseLid=Po;exports.absorbanceReaderCloseRead=Ab;exports.absorbanceReaderCollision=Ha;exports.absorbanceReaderInitialize=C_;exports.absorbanceReaderOpenLid=D_;exports.absorbanceReaderRead=M_;exports.absorbanceReaderStateGetter=Kn;exports.airGapLocationHelper=VE;exports.aspirate=TE;exports.assignContainsAmongSiblings=mp;exports.blowOutInWell=Uc;exports.captureImage=F_;exports.column4StagingSlotIdFromFlexStackerShuttleAddressableArea=Ty;exports.commandCreatorsTimeline=yS;exports.comment=U_;exports.consolidate=Nb;exports.constructInvariantContextFromAnalysis=wS;exports.createEmptyLiquidState=fy;exports.createStagingAreaForInvariantContext=nc;exports.createTipLiquidState=my;exports.curryCommandCreator=O;exports.curryWithoutPython=R;exports.deactivateTemperature=V_;exports.deckSlotKeyForFlexStackerShuttleAddressableArea=xE;exports.delay=be;exports.delayLocationHelper=$E;exports.disengageMagnet=$_;exports.dispense=qc;exports.dispenseLocationHelper=UE;exports.distribute=Cb;exports.dropTip=Gr;exports.dropTipInPlace=No;exports.dropTipInTrash=vb;exports.dropTipInWasteChute=kb;exports.engageMagnet=B_;exports.enrichRobotStateForStackGraphTraversals=ww;exports.flexStackerEmpty=x_;exports.flexStackerFillItems=H_;exports.flexStackerRetrieve=z_;exports.flexStackerStateGetter=_t;exports.flexStackerStore=j_;exports.formatChangeTipArg=Go;exports.formatPyDict=Vr;exports.formatPyList=xc;exports.formatPyRuntimeValue=kn;exports.formatPyStr=C;exports.formatPyTuple=Bc;exports.formatPyValue=or;exports.formatPyWellLocation=Ht;exports.getAddressableAreaFromModule=fp;exports.getAddressableAreaNameFromLabwareLocation=yw;exports.getAllLargestStacks=By;exports.getAllProvidedAddressableAreasFromDeckConfig=xy;exports.getAllWellsForLabware=tb;exports.getCanPlaceStackableVacuumSpacer=iy;exports.getChunkForIndentingLists=Do;exports.getCommandCreatorFromStepArgs=TA;exports.getCustomLiquidClassProperties=zo;exports.getCutoutFromSlot=yb;exports.getCutoutIdByAddressableArea=ly;exports.getDefaultPrimaryNozzle=bo;exports.getDefineLiquids=cb;exports.getDispenseAirGapLocation=hy;exports.getFlexStackerCutoutBaseDeckSlotId=Qc;exports.getFlexStackerShuttleAddressableArea=Fo;exports.getFullStackFromLabwares=Uo;exports.getFullStackFromNodeTopDownRecursive=Ho;exports.getHasNoWellsFromCCArgs=TS;exports.getInitialRobotStateStandard=Yb;exports.getInitialRobotStateWithOffDeckLabwareStandard=KA;exports.getIsHeaterShakerEastWestMultiChannelPipette=Wn;exports.getIsHeaterShakerEastWestWithLatchOpen=Gn;exports.getIsHeaterShakerNorthSouthOfNonTiprackWithMultiChannelPipette=Ya;exports.getIsInPipettableLocation=Sy;exports.getIsLabwareCompatibleWithStack=Ey;exports.getIsRetractSafeForAirGap=$r;exports.getIsSafePickupWithinTiprack=bp;exports.getIsSlotAHopper=gy;exports.getIsSlotAVacuumDock=Ia;exports.getIsSpaceInHopper=rp;exports.getIsStackableVacuumSpacer=Ta;exports.getIsTallLabwareEastWestOfHeaterShaker=Jy;exports.getIsVacuumSpacer=ay;exports.getIsVacuumSpacerSeat=oy;exports.getLabwareHasLid=wy;exports.getLabwareHasLiquid=yy;exports.getLabwareIdOnShuttle=ep;exports.getLabwareSlot=Hn;exports.getLargestStackContainingLabware=$y;exports.getLargestStackInSlot=ba;exports.getLiquidClassName=Xa;exports.getLiquidIdsOnLabware=BS;exports.getLiquidIdsOnLabwareStack=$S;exports.getLoadAdapters=sb;exports.getLoadLabware=lb;exports.getLoadLidStacks=ib;exports.getLoadLiquidClasses=db;exports.getLoadLiquids=pb;exports.getLoadModules=ob;exports.getLoadPipettes=ub;exports.getLoadTrashBins=fb;exports.getLoadWasteChute=mb;exports.getLocationTotalVolume=yr;exports.getModuleHasLiveTask=zn;exports.getModuleIdFromRobotStateStack=xa;exports.getModuleLocationSlot=BE;exports.getModuleState=vt;exports.getNearestParentInStack=by;exports.getNextRobotStateAndWarnings=_p;exports.getNextRobotStateAndWarningsSingleCommand=Qy;exports.getNextTiprack=Ja;exports.getNodeParentModuleId=hw;exports.getNozzleConfig=yp;exports.getPipetteCenteringFullOffset=Ib;exports.getPipetteIdFromCCArgs=bS;exports.getPipetteMovementSafetyStatus=ht;exports.getPipetteWithTipMaxVol=Wo;exports.getProvidedAddressableAreasExposed=bw;exports.getPythonAssignTipRacksString=jo;exports.getResultingTimelineFrameFromRunCommands=AS;exports.getRobotInitialStateNoTipsRemain=JA;exports.getRobotStateAndWarningsStandard=ZA;exports.getRobotStatePickedUpTipStandard=QA;exports.getRobotStateWithTipStandard=XA;exports.getRunTimeParameters=aA;exports.getSetStoredLabware=_b;exports.getSlotInLocationStack=K;exports.getStackForLabwareLocation=rc;exports.getStackableVacuumSpacerLoadNamesInStack=sy;exports.getStackedOnNodeFromPdStack=Hy;exports.getStateAndContextTempTCModules=eL;exports.getTargetTipsFromWellSets=Qa;exports.getThermocyclerProfileRepetitionsForPython=Eb;exports.getTipColumn=YA;exports.getTipColumnIndex=dc;exports.getTipColumnName=Tp;exports.getTipRowName=wn;exports.getTiprackHasTips=_y;exports.getTiprackTipstate=jb;exports.getTopLocationInStack=Mo;exports.getTopmostLabwareOnModuleFromStackRobotState=zE;exports.getTransferPlanAndReferenceVolumes=Jc;exports.getTrashBinAddressableAreaName=Kc;exports.getTrashLocationFromAddressableAreaName=cy;exports.getTrashOrLabware=Bn;exports.getVolumesPerLiquid=VS;exports.getWasteChuteAddressableAreaNamePip=uy;exports.getWellsForTips=Zc;exports.heaterShaker=Db;exports.indentPyLines=Y;exports.labwareMatchesLabwareInHopper=tp;exports.makeContext=Gb;exports.makeInitialRobotState=Xc;exports.makeState=Kr;exports.makeStateArgsLabwareOffDeck=Wb;exports.makeStateArgsStandard=Zn;exports.mergeLiquid=br;exports.mix=Pb;exports.mixBlowoutLocationHelper=dy;exports.modulePipetteCollision=jn;exports.moveHelper=qE;exports.moveLabware=G_;exports.moveToAddressableArea=$e;exports.moveToAddressableAreaForDropTip=Vc;exports.pipetteAdjacentHeaterShakerWhileShaking=Yn;exports.pipetteIntoHeaterShakerLatchOpen=Ka;exports.pipetteIntoHeaterShakerWhileShaking=Za;exports.pythonCustomLabwareDict=rA;exports.pythonDefRun=tA;exports.pythonImports=KS;exports.pythonMetadata=ZS;exports.pythonRequirements=XS;exports.pythonRuntimeString=ac;exports.reduceCommandCreators=le;exports.repeatArray=py;exports.replaceTip=eo;exports.resolveAllowedRuntimeValue=fo;exports.resolveBooleanRuntimeValue=qo;exports.resolveDeckSlotKeyForLabwareStackInSlot=Iy;exports.resolveNumericRuntimeValue=ie;exports.resolveRuntimeWellLocation=Pn;exports.resolveStringRuntimeValue=B;exports.robotWithStatusAndTemp=tL;exports.setTemperature=$c;exports.sortLabwareBySlot=gb;exports.splitLiquid=rr;exports.stepCommands=hb;exports.swatchColors=nb;exports.thermocyclerPipetteCollision=Ga;exports.thermocyclerProfileStep=Mb;exports.thermocyclerStateGetter=Yo;exports.thermocyclerStateStep=Fb;exports.tiprackWellNamesFlat=Hb;exports.touchTip=St;exports.transfer=Ub;exports.unrollThermocyclerProfile=Ip;exports.uuid=M;exports.vacuumCloseVent=$a;exports.vacuumCloseVentSetPumpPower=qb;exports.vacuumCloseVentSetPumpPressure=Vb;exports.vacuumCloseVentStartProfile=$b;exports.vacuumModuleStateGetter=ut;exports.vacuumOpenVent=Y_;exports.vacuumSetPumpPower=Hc;exports.vacuumSetPumpPressure=zc;exports.vacuumStartRunProfile=jc;exports.vacuumStopPump=Z_;exports.waitForModuleTask=xb;exports.waitForTemperature=Gc;exports.wellFillFromWellContents=HS;