@opentrons/step-generation 0.3.22-alpha.0 → 0.3.24-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 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}. Add the pipette to your protocol or change the step to use a different pipette.`,type:"PIPETTE_DOES_NOT_EXIST"}}function mt(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 re(){return{message:"This step requires a module, but none is selected",type:"MISSING_MODULE"}}function eT(){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 Ep(){return{message:"This module is not currently running a profile.",type:"MISSING_PROFILE_STEP"}}function tT(e){const{volume:t,maxVolume:r,actionName:n}=e;return{message:`This step tries to ${n} ${t}µL, but the tip can only hold ${r}µL.`,type:"TIP_VOLUME_EXCEEDED"}}function H(e){const{parameterName:t}=e;return{message:`Runtime parameter "${t}" is missing`,type:"INVALID_RUNTIME_PARAMETER"}}function mo(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 rT=()=>({type:"MOVE_LOCATION_NOT_SPECIFIED",message:"This step is missing a move location."}),Aa=()=>({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."}),nT=()=>({type:"THERMOCYCLER_BUSY_WITH_PROFILE",message:"This step cannot run while the Thermocycler is running a profile. Move the step outside the profile."}),Sn=()=>({type:"THERMOCYCLER_LID_CLOSED",message:"Attempted to interact with contents of a thermocycler with the lid closed."}),To=()=>({type:"HEATER_SHAKER_LATCH_OPEN",message:"Attempted to interact with contents of a heater-shaker with the latch open."}),gp=()=>({type:"HEATER_SHAKER_LATCH_CLOSED",message:"Attempted to move the contents of a heater-shaker with the latch closed."}),qr=()=>({type:"ABSORBANCE_READER_LID_CLOSED",message:"Attempted to interact with contents of an absorbance plate reader with the lid closed."}),aT=()=>({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."}),Mh=()=>({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."}),oT=()=>({type:"HOPPER_EMPTY",message:"Cannot retrieve labware from empty stacker"}),sT=()=>({type:"SHUTTLE_FULL",message:"Shuttle must be empty in order to retrieve labware from the stacker"}),iT=()=>({type:"SHUTTLE_EMPTY",message:"Shuttle must have labware in order to store it in the stacker"}),Fh=()=>({type:"MISMATCHED_STACKER_LABWARE_TYPE",message:"The stacker can only store a single type of labware at a time"}),lT=()=>({type:"MISSING_STACKER_LABWARE_TYPE",message:"Add labware to the stacker in the starting deck so that you can refill it later"}),Uh=()=>({type:"HOPPER_FULL",message:"The hopper has reached capacity"}),An=()=>({type:"HEATER_SHAKER_IS_SHAKING",message:"Attempted to interact with the contents of a heater-shaker when it is shaking."}),uT=e=>({type:"TALL_LABWARE_EAST_WEST_OF_HEATER_SHAKER",message:`Labware over 53 mm is ${e} of this Heater-Shaker module.`}),Bt=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}}}},La=()=>({type:"HEATER_SHAKER_EAST_WEST_LATCH_OPEN",message:"The Heater-Shaker labware latch is open"}),Oa=()=>({type:"HEATER_SHAKER_NORTH_SOUTH_EAST_WEST_SHAKING",message:"The Heater-Shaker is shaking"}),Ra=()=>({type:"HEATER_SHAKER_EAST_WEST_MULTI_CHANNEL",message:"The Heater-Shaker is shaking"}),Io=()=>({type:"HEATER_SHAKER_NORTH_SOUTH__OF_NON_TIPRACK_WITH_MULTI_CHANNEL",message:"8-Channel pipette cannot access labware"}),Ln=()=>({type:"LABWARE_OFF_DECK",message:"Attempted to interact with labware off deck"}),cT=()=>({type:"LABWARE_ON_ANOTHER_ENTITY",message:"Attempted to move labware onto another entity with the same slotName"}),Cn=()=>({type:"DROP_TIP_LOCATION_DOES_NOT_EXIST",message:"The destination for dropping tip does not exist"}),qh=()=>({type:"EQUIPMENT_DOES_NOT_EXIST",message:"Equipment does not exist."}),pT=()=>({type:"GRIPPER_REQUIRED",message:"The gripper is required to fulfill this action"}),xt=e=>({type:"PIPETTING_INTO_COLUMN_4",message:`Cannot ${e.typeOfStep} into a column 4 slot.`}),dT=()=>({type:"CANNOT_MOVE_WITH_GRIPPER",message:"The gripper cannot move aluminum blocks"}),fT=()=>({type:"NO_TIP_SELECTED",message:"No tips were selected for this step"}),va=()=>({type:"LABWARE_DISCARDED_IN_TRASH",message:"The labware was discarded in trash in a previous step."}),Vh=()=>({type:"SUBMERGE_BELOW_ASPIRATE",message:"The submerge position must be above the aspirate position"}),$h=()=>({type:"RETRACT_BELOW_ASPIRATE",message:"The retract position must be above the aspirate position"}),mT=()=>({type:"SUBMERGE_BELOW_DISPENSE",message:"The submerge position must be above the dispense position"}),hT=()=>({type:"RETRACT_BELOW_DISPENSE",message:"The retract position must be above the dispense position"}),_T=()=>({type:"MULTI_ASPIRATE_VOLUME_TOO_HIGH",message:"Consolidate pipette path was selected but cannot fit volume for more than 1 well in the tip"}),yT=()=>({type:"MULTI_DISPENSE_VOLUME_TOO_HIGH",message:"Distribute pipette path was selected but cannot fit volume for more than 1 well in the tip"}),bT=e=>({type:"CLOSING_THERMOCYCLER_WITH_INVALID_LABWARE_LID",message:`Closing the Thermocycler lid with ${e.lidDisplayName} in place will cause damage`}),wp=()=>({type:"RETURN_TIP_UNAVAILABLE",message:"Current tip does not have a known location to return to"}),TT=()=>({type:"TIPRACK_LID_NOT_ALLOWED_ON_DECK",message:"The tip rack lid is not supported directly on the deck"}),IT=()=>({type:"NEXT_TIPRACK_HAS_LID",message:"A pipette cannot pick up tips from a tip rack with a lid"}),ET=e=>({type:"STACK_TOO_HIGH",message:`The stack on slot ${e.slot} is too high`}),gT=()=>({type:"TOO_MANY_TIPS",message:"Action will pick up too many tips"}),wT=()=>({type:"INCOMPLETE_PICKUP",message:"At least one of the selected tips is empty"}),ST=()=>({type:"LABWARE_ON_HOPPER",message:"Labware cannot be moved from the Flex Stacker Hopper"}),AT=()=>({type:"MISSING_PUMP_ACTIVITY",message:"This module is not currently running a pump activity."}),LT=e=>({type:"INVALID_WAIT_CONDITION",message:`Invalid wait condition: ${e}`}),ka=()=>({type:"LIVE_TASK_ERROR",message:"This module is currently running a live task. 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_E(){if(nm)return Al;nm=1;function e(t,r,n,a,o){return o(t,function(s,i,l){n=a?(a=!1,s):r(n,s,i,l)}),n}return Al=e,Al}var Ll,am;function yE(){if(am)return Ll;am=1;var e=hE(),t=Dc(),r=qn(),n=_E(),a=tt();function o(s,i,l){var u=a(s)?e:n,p=arguments.length<3;return u(s,r(i,4),l,p,t)}return Ll=o,Ll}var bE=yE();const dt=Ge(bE),Po=(e,t,r)=>{const{gripperEntities:n,moduleEntities:a,runtimeParameters:o}=t,s=B(e.moduleId,o);if(s==null)return{errors:[H({parameterName:e.moduleId})]};const i=Kn(r,s),l=Object.keys(n).length>0,u=[];if(i==null&&u.push(re()),l||u.push(Mh()),u.length>0)return{errors:u};const p=a[s].pythonName;return{commands:[{commandType:"absorbanceReader/closeLid",key:M(),params:{moduleId:s}}],python:`${p}.close_lid()`}},C_=(e,t,r)=>{const{sampleWavelengths:n,measureMode:a,referenceWavelength:o}=e,{runtimeParameters:s}=t,i=B(e.moduleId,s),l=B(a,s),u=l==="single"||l==="multi"?l:null,p=n.map(y=>ie(y,s)),d=o==null?void 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0:B(n,a),i=[];if(o==null&&i.push(H({parameterName:e.moduleId})),n!=null&&s==null&&i.push(H({parameterName:n})),o==null||i.length>0)return{errors:i};const l=Kn(r,o);if(l==null)return{errors:[re()]};l.initialization===null&&i.push(qr());const u=t.moduleEntities[o].pythonName,p=n==null||a[n]!=null?n:C(n),d=p!=null?`export_filename=${p}`:"";return i.length>0?{errors:i}:{commands:[{commandType:"absorbanceReader/read",key:M(),params:{moduleId:o,...s!=null?{fileName:s}:{}}}],python:`${u}.read(${d})`}},Ot=(e,t,r)=>{const{flowRate:n,pipetteId:a,volume:o,correctionVolume:s}=e,i=[];t.pipetteEntities[a]?.spec||i.push(ft({pipette:a}));const u=t.pipetteEntities[a].pythonName;return{commands:[{commandType:"airGapInPlace",key:M(),params:{flowRate:n,pipetteId:a,volume:o,...s!=null?{correctionVolume:s}:{}}}],python:`${u}.air_gap(${[`volume=${o}`,"in_place=True",`flow_rate=${n}`].join(", ")})`}},TE=(e,t,r)=>{const{pipetteId:n,volume:a,labwareId:o,wellName:s,flowRate:i,isAirGap:l,tipRack:u,wellLocation:p,primaryNozzle:d,nozzles:f}=e,m="aspirate",h=r.labware,_=[],b=t.pipetteEntities[n]?.spec,T=(b?.displayCategory==="FLEX"||b?.channels===96)??!1,y=Hn(o,r.labware);if(b||_.push(ft({pipette:n})),!o||!r.labware[o]?_.push(mt({actionName:m,labware:o})):K(r.labware[o].stack)==="offDeck"&&_.push(Ln()),De.includes(y))_.push(xt({typeOfStep:m}));else if(h[y]!=null){const k=K(h[y].stack);De.includes(k)&&_.push(xt({typeOfStep:m}))}jn({pipette:n,labware:o,invariantContext:t,prevRobotState:r})&&_.push(Aa()),r.tipState.pipettes[n]?.hasTip||_.push(zt({actionName:m,pipette:n,labware:o,well:s}));const I=t.pipetteEntities[n]?.spec.channels!==1,w=ht({robotState:r,invariantContext:t,pipetteId:n,labwareId:o,wellLocationOffset:p?.offset??{x:0,y:0,z:0},wellTargetName:s,primaryNozzle:d,nozzleConfiguration:f});if(I&&b&&!w.isSafe&&_.push(Bt({unsafePipetteMovementReason:w.reason})),Ga(r.modules,r.labware,o)&&_.push(Sn()),Ha(r.modules,r.labware,o)&&_.push(qr()),Ka(r.modules,r.labware,o)&&_.push(To()),Za(r.modules,r.labware,o)&&_.push(An()),Yn(r.modules,y,T?c.FLEX_ROBOT_TYPE:c.OT2_ROBOT_TYPE)&&_.push(Oa()),T||(Gn(r.modules,y)&&_.push(La()),Wn(r.modules,y,b)&&_.push(Ra()),Ya(r.modules,y,b,t.labwareEntities[o])&&_.push(Io())),_.length===0&&b&&b.liquids.default.maxVolume<a&&_.push(mo({actionName:m,volume:a,maxVolume:b.liquids.default.maxVolume})),_.length===0&&b){const k=Wo(n,t,u);k<a&&_.push(tT({actionName:m,volume:a,maxVolume:k}))}if(_.length>0)return{errors:_};const E=[{commandType:"aspirate",key:M(),params:{pipetteId:n,volume:a,labwareId:o,wellName:s,wellLocation:p,flowRate:i},...l&&{meta:{isAirGap:l}}}],A=t.pipetteEntities[n].pythonName,L=t.labwareEntities[o].pythonName,S=[`volume=${a}`,`location=${L}[${C(s)}]${Ht(p)}`,`flow_rate=${i}`],g=`${A}.aspirate(
-${Y(S.join(`,
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const c=require("@opentrons/shared-data");function Qb(){return{type:"INSUFFICIENT_TIPS",message:"Not enough tips to complete action"}}function Jb(){return{type:"MISSING_96_CHANNEL_TIPRACK_ADAPTER",message:"A 96-channel cannot pick up tips fully without an adapter"}}function eT(){return{type:"REMOVE_96_CHANNEL_TIPRACK_ADAPTER",message:"A 96-channel cannot pick up tips partially with an adapter"}}function jt(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 tT(){return{message:"One or more of the pipettes has a tip",type:"PIPETTE_HAS_TIP"}}function mt(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 ht(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 ${r}. Add the labware to your protocol or change the step to use a different labware.`,type:"LABWARE_DOES_NOT_EXIST"}}function pe(){return{message:"This step requires a module, but none is selected",type:"MISSING_MODULE"}}function rT(){return{message:"This module is not changing temperature because it has either been deactivated or is already holding a temperature. 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+${u}.blow_out()`}},Vc=(e,t,r)=>{const{pipetteEntities:n,labwareEntities:a,runtimeParameters:o}=t,s=v(e.pipetteId,o),i=v(e.labwareId,o),l=v(e.wellName,o),u=U(e.flowRate,o),p=Cn(e.wellLocation,o),d=[e.pipetteId,e.labwareId,e.wellName,e.flowRate],f=[s,i,l,u],m=[...d.flatMap((D,M)=>typeof D=="string"&&f[M]==null?[C({parameterName:D})]:[]),...p.invalidParameterNames.map(D=>C({parameterName:D}))];if(m.length>0||s==null||i==null||l==null||u==null)return{errors:m};const h=p.location,_=n[s],y="blowout",T=[],b=_?.spec,w=(b?.displayCategory==="FLEX"||b?.channels===96)??!1,S=r.pipettes[s],g=r.labware,L=jn(i,r.labware);if(S||T.push(mt({pipette:s})),b==null&&T.push(mt({pipette:s})),r.tipState.pipettes[s]?.hasTip||T.push(jt({actionName:y,pipette:s,labware:i,well:l})),!i||!r.labware[i]?T.push(ht({actionName:y,labware:i})):ee(r.labware[i].stack)==="offDeck"&&T.push(Pn()),De.includes(L))T.push(Ht({typeOfStep:y}));else if(g[L]!=null){const D=ee(g[L].stack);De.includes(D)&&T.push(Ht({typeOfStep:y}))}if(Gn({pipette:s,labware:i,invariantContext:t,prevRobotState:r})&&T.push(Oa()),Ya(r.modules,r.labware,i)&&T.push(On()),ja(r.modules,r.labware,i)&&T.push(qr()),Xa(r.modules,r.labware,i)&&T.push(Io()),Qa(r.modules,r.labware,i)&&T.push(vn()),Zn(r.modules,L,w?c.FLEX_ROBOT_TYPE:c.OT2_ROBOT_TYPE)&&T.push(Pa()),!w&&b!=null&&(Yn(r.modules,L)&&T.push(va()),Kn(r.modules,L,b)&&T.push(Ra()),Za(r.modules,L,b,t.labwareEntities[i])&&T.push(wo())),T.length>0)return{errors:T};const I=_.pythonName,A=a[i].pythonName,E=o[e.wellName]!=null?e.wellName:F(l),O=zt(e.wellLocation==null?void 0:{origin:h?.origin,offset:e.wellLocation.offset});return{commands:[{commandType:"blowout",key:$(),params:{pipetteId:s,labwareId:i,wellName:l,flowRate:u,wellLocation:h}}],python:`${I}.flow_rate.blow_out = ${e.flowRate}
+${I}.blow_out(${A}[${E}]${O})`}},U_=(e,t,r)=>{const n={commandType:"captureImage",key:$(),params:{homeBefore:e.homeBefore,fileName:e.fileName,resolution:e.resolution,zoom:e.zoom,contrast:e.contrast,brightness:e.brightness,saturation:e.saturation}},a=`${ge}.capture_image()`;return{commands:[n],python:a}},$_=(e,t,r)=>{const{message:n}=e,a=[{commandType:"comment",key:$(),params:{message:n}}],o=`${ge}.comment(${F(n)})`;return{commands:a,python:o}},kn=(e,t,r)=>{const{pipetteId:n,volume:a}=e,{runtimeParameters:o}=t,s=v(n,o),i=U(a,o),l=[];if(s==null&&l.push(C({parameterName:n})),typeof a=="string"&&i==null&&l.push(C({parameterName:a})),s==null||i==null)return{errors:l};const u=t.pipetteEntities[s];return u==null?{commands:[]}:{commands:[{commandType:"configureForVolume",key:$(),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=v(n,l),p=En(o,gc,l),d=s==null?void 0:En(s,Ec,l),f=i==null?void 0:En(i,c_,l),m=[];if(u==null&&m.push(C({parameterName:n})),p==null&&m.push(C({parameterName:o})),s!=null&&d==null&&m.push(C({parameterName:s})),i!=null&&f==null&&m.push(C({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.${p}`;l[o]!=null&&(_=o);const y=[_];if(s!=null&&d!=null){const b=oc(s,d,l);p===c.PARTIAL_COLUMN?y.push(`start=${F(c.H1_NOZZLE)}, end=${b}`):y.push(`start=${b}`)}i!=null&&f!=null&&y.push(`back_left=${oc(i,f,l)}`);const T={style:p,...d!=null?{primaryNozzle:d}:{},...f!=null?{backLeftNozzle:f}:{}};return{commands:[{commandType:"configureNozzleLayout",key:$(),params:{pipetteId:u,configurationParams:T}}],python:`${h}.configure_nozzle_layout(
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-${Y(S.join(`,
+)`}},V_=(e,t,r)=>{const{runtimeParameters:n}=t,a=v(e.moduleId,n);if(e.moduleId!=null&&a==null)return{errors:[C({parameterName:e.moduleId})]};if(a===null)return{errors:[pe()]};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:$(),params:l}],python:`${i}.deactivate()`}:s===c.THERMOCYCLER_MODULE_TYPE?{commands:[{commandType:"thermocycler/deactivateLid",key:$(),params:l},{commandType:"thermocycler/deactivateBlock",key:$(),params:l}],python:`${i}.deactivate_lid()
+${i}.deactivate_block()`}:s===c.HEATERSHAKER_MODULE_TYPE?{commands:[{commandType:"heaterShaker/deactivateHeater",key:$(),params:l}],python:`${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 ${s}`),{errors:[pe()]})},Te=(e,t,r)=>{const{message:n}=e;let a,o;if("seconds"in e){a={commandType:"waitForDuration",key:$(),params:{seconds:e.seconds,message:n}};const s=[`seconds=${e.seconds}`,...n?[`msg=${F(n)}`]:[]];o=`${ge}.delay(${s.join(", ")})`}else a={commandType:"waitForResume",key:$(),params:{message:n}},o=`${ge}.pause(${n?F(n):""})`;return{commands:[a],python:o}},B_=(e,t,r)=>{const{moduleEntities:n,runtimeParameters:a}=t,o=v(e.moduleId,a);if(o==null)return console.error(`disengageMagnet: arg resolved to null (moduleId=${String(o)})`),{errors:[C({parameterName:e.moduleId})]};if(n[o]?.type!==c.MAGNETIC_MODULE_TYPE)throw new Error(`expected module ${o} to be magdeck, got ${n[o]?.type}`);const s=n[o].pythonName;return{commands:[{commandType:"magneticModule/disengage",key:$(),params:{moduleId:o}}],python:`${s}.disengage()`}},Bc=(e,t,r)=>{const{pipetteId:n,volume:a,labwareId:o,wellName:s,flowRate:i,isAirGap:l,wellLocation:u,pushOut:p,primaryNozzle:d,nozzles:f}=e,m="dispense",h=r.labware,_=[],y=t.pipetteEntities[n]?.spec,T=(y?.displayCategory==="FLEX"||y?.channels===96)??!1,b=jn(o,r.labware);if(y||_.push(mt({pipette:n})),Gn({pipette:n,labware:o,invariantContext:t,prevRobotState:r})&&_.push(Oa()),r.tipState.pipettes[n]?.hasTip||_.push(jt({actionName:m,pipette:n,labware:o,well:s})),!o||!r.labware[o]?_.push(ht({actionName:m,labware:o})):ee(r.labware[o].stack)==="offDeck"&&_.push(Pn()),De.includes(b))_.push(Ht({typeOfStep:m}));else if(h[b]!=null){const O=ee(h[b].stack);De.includes(O)&&_.push(Ht({typeOfStep:m}))}const w=t.pipetteEntities[n]?.spec.channels!==1,S=_t({robotState:r,invariantContext:t,pipetteId:n,labwareId:o,wellLocationOffset:u?.offset??{x:0,y:0,z:0},wellTargetName:s,primaryNozzle:d,nozzleConfiguration:f});if(w&&!S.isSafe&&_.push(xt({unsafePipetteMovementReason:S.reason})),Ya(r.modules,r.labware,o)&&_.push(On()),ja(r.modules,r.labware,o)&&_.push(qr()),Xa(r.modules,r.labware,o)&&_.push(Io()),Qa(r.modules,r.labware,o)&&_.push(vn()),Zn(r.modules,b,T?c.FLEX_ROBOT_TYPE:c.OT2_ROBOT_TYPE)&&_.push(Pa()),T||(Yn(r.modules,b)&&_.push(va()),Kn(r.modules,b,y)&&_.push(Ra()),Za(r.modules,b,y,t.labwareEntities[o])&&_.push(wo())),_.length>0)return{errors:_};const g=[{commandType:"dispense",key:$(),params:{pipetteId:n,volume:a,labwareId:o,wellName:s,wellLocation:u,flowRate:i,...p!=null?{pushOut:p}:{}},...l&&{meta:{isAirGap:l}}}],L=t.pipetteEntities[n].pythonName,I=t.labwareEntities[o].pythonName,A=[`volume=${a}`,`location=${I}[${F(s)}]${zt(u)}`,`flow_rate=${i}`,...p!=null?[`push_out=${p}`]:[]],E=`${L}.dispense(
+${Q(A.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(`,
+)`;return{commands:g,python:E}},Je=(e,t,r)=>{const{isAirGap:n}=e,{runtimeParameters:a}=t,o=v(e.pipetteId,a),s=U(e.volume,a),i=U(e.flowRate,a),l=e.pushOut==null?void 0:U(e.pushOut,a),u=e.correctionVolume==null?void 0:U(e.correctionVolume,a),p=[e.pipetteId,e.volume,e.flowRate,e.pushOut,e.correctionVolume],d=[o,s,i,l,u],f=p.flatMap((_,y)=>typeof _=="string"&&d[y]==null?[C({parameterName:_})]:[]);if(f.length>0||o==null||s==null||i==null)return{errors:f};if(r.tipState.pipettes[o]?.hasTip||f.push(jt({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=${e.pushOut}`]:[]];return{commands:[{commandType:"dispenseInPlace",key:$(),params:{pipetteId:o,volume:s,flowRate:i,...l!=null?{pushOut:l}:{},...u!=null?{correctionVolume:u}:{}},...n?{meta:{isAirGap:n}}:{}}],python:`${m}.dispense(${h.join(", ")})`}},Yr=(e,t,r)=>{const{isReturnTip:n}=e,{runtimeParameters:a}=t,o=v(e.pipette,a),s=e.dropTipLocation==null?void 0:v(e.dropTipLocation,a),i=e.wellName==null?void 0:v(e.wellName,a),l=[e.pipette,e.dropTipLocation,e.wellName],u=[o,s,i],p=l.flatMap((T,b)=>typeof T=="string"&&u[b]==null?[C({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:[Ap()]};let _=null;if(n&&h){const T=t.pipetteEntities[o].pythonName,w=`${m.pythonName}["${f}"]`;_=`${T}.drop_tip(location=${w})`}let y=[];if(n){if(d==null||f==null)return{errors:[Ap()]};y=[{commandType:"dropTip",key:$(),params:{pipetteId:o,labwareId:d,wellName:f}}]}else{if(s==null||i==null)return{errors:[Mn()]};y=[{commandType:"dropTip",key:$(),params:{pipetteId:o,labwareId:s,wellName:i}}]}return{commands:y,..._!=null?{python:_}:{}}},Co=(e,t,r)=>{const{runtimeParameters:n}=t,a=v(e.pipetteId,n),o=e.homeAfter==null?void 0:lt(e.homeAfter,n),s=[e.pipetteId,e.homeAfter],i=[a,o],l=s.flatMap((b,w)=>typeof b=="string"&&i[w]==null?[C({parameterName:b})]:[]);if(l.length>0||a==null)return{errors:l};if(!r.tipState.pipettes[a]?.hasTip)return{commands:[]};const{pipetteEntities:u,trashBinEntities:p,wasteChuteEntities:d}=t,f=u[a].pythonName,m=r.pipettes[a]?.entityId??"",h=p[m],_=d[m],y=[h!=null?`${h.pythonName}, alternate_drop_location=True`:_?.pythonName,...e.homeAfter!=null?[`home_after=${Vr(e.homeAfter)}`]:[]].filter(Boolean).join(", ");return{commands:[{commandType:"dropTipInPlace",key:$(),params:{pipetteId:a,...o!=null?{homeAfter:o}:{}}}],python:`${f}.drop_tip(${y})`}},x_=(e,t,r)=>{const{moduleEntities:n,runtimeParameters:a}=t,o=v(e.moduleId,a),s=U(e.height,a),i=[];if(o==null&&i.push(C({parameterName:e.moduleId})),typeof e.height=="string"&&s==null&&i.push(C({parameterName:e.height})),i.length>0||o==null||s==null)return console.error(`engageMagnet: arg resolved to null (moduleId=${String(o)}, height=${String(s)})`),{errors:i};if(n[o]?.type!==c.MAGNETIC_MODULE_TYPE)throw new Error(`expected module ${o} to be magdeck, got ${n[o]?.type}`);const l=n[o].pythonName;return{commands:[{commandType:"magneticModule/engage",key:$(),params:{moduleId:o,height:s}}],python:`${l}.engage(height_from_base=${e.height})`}},H_=(e,t,r)=>{const{moduleEntities:n}=t,{moduleId:a,strategy:o,message:s,count:i}=e,l=yt(r,a);if(a==null||n[a]==null)return{errors:[pe()]};const u=[];if(l==null&&u.push(pe()),u.length>0)return{errors:u};const p=n[a].pythonName;return{commands:[{commandType:"flexStacker/empty",key:$(),params:{moduleId:a,strategy:o,message:s,count:i}}],python:`${p}.empty(${e.message?`message=${F(e.message)}`:""})`}},z_=(e,t,r)=>{const{moduleId:n,interventionMessage:a,fillLabwareIds:o}=e,{labwareEntities:s,moduleEntities:i}=t;if(n==null||i[n]==null)return{errors:[pe()]};const l=yt(r,n),u=ap(l,t.labwareEntities),p=i[n].pythonName,d=o.filter(T=>!c.getIsLid(s[T].def)).map(T=>s[T]?.pythonName),m=Mo(d,4).map(T=>Ha+T.join(", ")).join(`,
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 ${m}
-`;if(l!=null&&l.storedLabwareDetails===null&&l.labwareInHopper==null)return{errors:[lT()]};if(u){if(o.length>0&&!o.every(y=>tp(y,t,l)))return{errors:[Fh()]}}else return{errors:[Uh()]};const b=[...o.filter(T=>!c.getIsLid(s[T].def)).length>0?`labware=[${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",$?c.OT2_ROBOT_TYPE:c.FLEX_ROBOT_TYPE):null,G=ue.find(U=>U===V),z=G!=null?Object.values(l).find(U=>U.location===G)?.id:null;if(N)ae=C(o.addressableAreaName);else if(z!=null&&!P)ae=l[z]?.pythonName??"";else if(z==null&&P)ae=Object.values(u)[0]?.pythonName??"";else if(Ia(o.addressableAreaName)){const[U]=Object.entries(r.modules).find(([,j])=>j.moduleState.type===c.VACUUM_MODULE_TYPE)??[];if(U!=null&&d[U]!=null){const{pythonName:j}=d[U];ae=`${j}.manifold_dock`}}else ae=""}if(Re!=null){const N=ba({slot:Re,labwareState:r.labware,modulesState:r.modules}),P=K(N),{isCompatible:$,isAboveStackLimit:F}=Ey(n,N,p,d);$||y.push(cT()),F&&y.push(ET({slot:P}))}if(y.length>0)return{errors:y};ae===""&&console.error("expected to find a python new location but could not");const We=s?", use_gripper=True":"",Fe=c.getIsLid(p[n].def),Ae=r.labware[n].stack;let J="";if(Fe){const N=by(Ae);if(N==null)console.error("expected to find a parent for labware to move but could not");else{const P=p[N]!=null,$=P&&c.getIsLid(p[N].def);Ae.length===2||P&&$?J=C(K(Ae)):(P||!c.getIsLid(p[N].def))&&(J=p[N].pythonName)}}Fe&&J===""&&console.error("expected to find a valid lid move location but could not");const Z=Fe?`${we}.move_lid(${J}, ${ae}${We})`:`${we}.move_labware(${Me}, ${ae}${We})`;return{commands:Be,...I.length>0?{warnings:I}:{},python:Z}},$e=(e,t,r)=>{const{pipetteId:n,fixtureId:a,offset:o}=e,{pipetteEntities:s,trashBinEntities:i,wasteChuteEntities:l}=t,u=s[n],p=u.spec.channels,d=u.pythonName,f=i[a]??l[a],m=f.pythonName;let h=uy(p);return i[a]!=null&&(h=Kc(f.location)),{commands:[{commandType:"moveToAddressableArea",key:M(),params:{pipetteId:n,addressableAreaName:h,offset:o}}],python:`${d}.move_to(${m})`}},Vc=(e,t,r)=>{const{pipetteId:n,addressableAreaName:a}=e;return{commands:[{commandType:"moveToAddressableAreaForDropTip",key:M(),params:{pipetteId:n,addressableAreaName:a,offset:{x:0,y:0,z:0},alternateDropLocation:!0}}]}},x=(e,t,r)=>{const{pipetteId:n,labwareId:a,wellName:o,wellLocation:s,minimumZHeight:i,forceDirect:l,speed:u}=e,p="moveToWell",d=[],f=r.labware,{pipetteEntities:m,labwareEntities:h}=t,_=m[n]?.spec,b=r.pipettes[n]?.nozzles??c.ALL,T=r.pipettes[n]?.primaryNozzle??bo({nozzles:b,channels:_?.channels}),y=(_?.displayCategory==="FLEX"||_?.channels===96)??!1,I=Hn(a,r.labware);if(_||d.push(ft({pipette:n})),!a||!r.labware[a]?d.push(mt({actionName:p,labware:a})):K(r.labware[a].stack)==="offDeck"&&d.push(Ln()),De.includes(I))d.push(xt({typeOfStep:"move to well"}));else if(f[I]!=null){const v=K(f[I].stack);De.includes(v)&&d.push(xt({typeOfStep:p}))}jn({pipette:n,labware:a,invariantContext:t,prevRobotState:r})&&d.push(Aa()),Ga(r.modules,r.labware,a)&&d.push(Sn()),Ka(r.modules,r.labware,a)&&d.push(To()),Ha(r.modules,r.labware,a)&&d.push(qr()),Za(r.modules,r.labware,a)&&d.push(An()),Yn(r.modules,I,y?c.FLEX_ROBOT_TYPE:c.OT2_ROBOT_TYPE)&&d.push(Oa()),y||(Gn(r.modules,I)&&d.push(La()),Wn(r.modules,I,_)&&d.push(Ra()),Ya(r.modules,I,_,h[a])&&d.push(Io()));const w=t.pipetteEntities[n]?.spec.channels!==1,E=t.pipetteEntities[n]?.spec,A=ht({robotState:r,invariantContext:t,pipetteId:n,labwareId:a,wellLocationOffset:s?.offset??{x:0,y:0,z:0},wellTargetName:o,nozzleConfiguration:b,primaryNozzle:T});if(w&&E&&!A.isSafe&&d.push(Bt({unsafePipetteMovementReason:A.reason})),d.length>0)return{errors:d};const L=m[n].pythonName,S=h[a].pythonName,g=[{commandType:"moveToWell",key:M(),params:{pipetteId:n,labwareId:a,wellName:o,wellLocation:s,...l!=null?{forceDirect:l}:{},...i!=null?{minimumZHeight:i}:{},...u!=null?{speed:u}:null}}],k=[`${S}[${C(o)}]${Ht(s)}`,...l?["force_direct=True"]:[],...i?[`minimum_z_height=${i}`]:[],...u?[`speed=${u}`]:[]];return{commands:g,python:`${L}.move_to(${k.join(", ")})`}},po=(e,t,r)=>{const{tipTrackingOption:n=Tc,nozzles:a,primaryNozzle:o}=e,{runtimeParameters:s}=t,i=B(e.pipetteId,s),l=B(e.labwareId,s),u=B(e.wellName,s),p=[e.pipetteId,e.labwareId,e.wellName],d=[i,l,u],f=p.flatMap((L,S)=>typeof L=="string"&&d[S]==null?[H({parameterName:L})]:[]);if(f.length>0||i==null||l==null||u==null)return{errors:f};const m=[],h=t.pipetteEntities[i].spec.channels,_=ht({robotState:r,invariantContext:t,pipetteId:i,labwareId:l,wellLocationOffset:{x:0,y:0},wellTargetName:u,nozzleConfiguration:a,primaryNozzle:o}),b=bp({tipState:r.tipState.tipracks[l],primaryNozzle:o,channels:h,nozzleConfiguration:a,wellName:u,tiprackDef:t.labwareEntities[l].def});_.isSafe||m.push(Bt({unsafePipetteMovementReason:_.reason})),b.isSafe||m.push(gT()),b.isComplete!==!0&&m.push(wT());const T=K(r.labware[l].stack);if(De.includes(T))m.push(xt({typeOfStep:"pick up tip"}));else if(r.labware[T]!=null){const L=K(r.labware[T].stack);De.includes(L)&&m.push(xt({typeOfStep:"pick up tip"}))}const y=t.pipetteEntities[i].pythonName,I=t.labwareEntities[l].pythonName,w=s[e.wellName]!=null?e.wellName:C(u),E=n===Lt?`[${w}]`:"",A=`${y}.pick_up_tip(location=${I}${E})`;return m.length>0?{errors:m}:{commands:[{commandType:"pickUpTip",key:M(),params:{pipetteId:i,labwareId:l,wellName:u}}],python:A}},W_=(e,t,r)=>{const{moduleId:n,taskId:a,profileElements:o,blockMaxVolumeUl:s}=e,i=t.moduleEntities[n].pythonName,l=Eb(e.profileElements),u=l.repeatingProfileSteps.map(h=>`{${C("temperature")}: ${h.celsius}, ${C("hold_time_seconds")}: ${h.holdSeconds}},`).join(`
-`),d=`${`[
-${Y(u)}
+`;if(l!=null&&l.storedLabwareDetails===null&&l.labwareInHopper==null)return{errors:[cT()]};if(u){if(o.length>0&&!o.every(b=>np(b,t,l)))return{errors:[qh()]}}else return{errors:[Vh()]};const y=[...o.filter(T=>!c.getIsLid(s[T].def)).length>0?`labware=[${h}],
+`:[],...a!=null?[`message=${F(a)},
+`]:[]].join("");return{commands:[{commandType:"flexStacker/fillItems",key:$(),params:{moduleId:n,labware:o,message:a??void 0}}],python:`${p}.fill_items(
+${Q(y)})`}},j_=(e,t,r)=>{const{moduleId:n}=e,{moduleEntities:a}=t;if(n==null||a[n]==null)return{errors:[pe()]};const o=a[n].pythonName,s=yt(r,n),i=s?.labwareInHopper!=null&&s.labwareInHopper.length>0;return s!==null&&rp(s)?{errors:[lT()]}:i?{commands:[{commandType:"flexStacker/retrieve",key:$(),params:{moduleId:n}}],python:`${o}.retrieve()`}:{errors:[iT()]}},W_=(e,t,r)=>{const{moduleId:n}=e,{labwareEntities:a,moduleEntities:o}=t;if(n==null||o[n]==null)return{errors:[pe()]};const s=o[n].pythonName,i=yt(r,n),l=i?.labwareOnShuttle?.primaryLabwareId??null,u=ap(i,a);return i!==null&&!rp(i)?{errors:[uT()]}:l!==null&&!np(l,t,i)?{errors:[qh()]}:u?{commands:[{commandType:"flexStacker/store",key:$(),params:{moduleId:n,strategy:"automatic"}}],python:`${s}.store()`}:{errors:[Vh()]}};function Ol(){return{type:"ASPIRATE_MORE_THAN_WELL_CONTENTS",message:"Not enough liquid"}}function vl(){return{type:"ASPIRATE_FROM_PRISTINE_WELL",message:"This step tries to aspirate from an empty well."}}function Sw(){return{type:"LABWARE_IN_WASTE_CHUTE_HAS_LIQUID",message:"Disposing of a labware with liquid"}}function gw(){return{type:"TIPRACK_IN_WASTE_CHUTE_HAS_TIPS",message:"Disposing unused tips"}}function Ew(){return{type:"TEMPERATURE_IS_POTENTIALLY_UNREACHABLE",message:"The module set temperature is potentially unreachable."}}function Aw(){return{type:"WAITING_FOR_NONEXISTENT_TASK",message:"This step is waiting for a task that was never started."}}const Lw="opentrons_flex_tiprack_lid",G_=(e,t,r)=>{const{gripperEntities:n,trashBinEntities:a,wasteChuteEntities:o,labwareEntities:s,moduleEntities:i,runtimeParameters:l}=t,u=v(e.labwareId,l),p=v(e.strategy,l),d=[];let f=null;if(u==null&&d.push(C({parameterName:e.labwareId})),p==null&&d.push(C({parameterName:e.strategy})),typeof e.newLocation=="string"){const N=v(e.newLocation,l);N==null?d.push(C({parameterName:e.newLocation})):f=N}else if("labwareId"in e.newLocation){const N=v(e.newLocation.labwareId,l);N==null?d.push(C({parameterName:e.newLocation.labwareId})):f={labwareId:N}}else if("moduleId"in e.newLocation){const N=v(e.newLocation.moduleId,l);N==null?d.push(C({parameterName:e.newLocation.moduleId})):f={moduleId:N}}else if("slotName"in e.newLocation){const N=v(e.newLocation.slotName,l);N==null?d.push(C({parameterName:e.newLocation.slotName})):f={slotName:N}}else{const N=v(e.newLocation.addressableAreaName,l);N==null?d.push(C({parameterName:e.newLocation.addressableAreaName})):f={addressableAreaName:N}}if(d.length>0||u==null||p==null||f==null)return{errors:d};const m=p==="usingGripper",h=Object.keys(n).length>0,_=Object.values(o).length>0,y=r.tipState!=null?by(r.tipState,u):!1,T=r.liquidState!=null?Ty(r.liquidState,u):!1,b=Object.values(r.tipState.pipettes).some(({hasTip:N})=>N),w="moveToLabware",S=[],g=c.locationIsOnAddressableArea(f)&&f.addressableAreaName==="gripperWasteChute";!u||!r.labware[u]?d.push(ht({actionName:w,labware:u})):ee(r.labware[u].stack)==="offDeck"&&m?d.push(Pn()):r.labware[u].stack.includes(et)&&d.push(LT());const L=s[u]?.def.metadata.displayCategory==="aluminumBlock";m&&L&&d.push(mT()),(g&&h&&!m||!h&&m)&&d.push(fT()),b&&m&&d.push(tT());const I=r.labware[u]!=null?ee(r.labware[u].stack):null;(_&&I==="gripperWasteChute"||c.MOVABLE_TRASH_ADDRESSABLE_AREAS.includes(I)||I==="fixedTrash")&&d.push(ka());const A=I!=null&&r.labware[I]!=null?ee(r.labware[I].stack):null,E=A??I,O=N=>N==null?null:N in r.modules?r.modules[N].moduleState:Object.values(r.modules).find(({slot:B})=>B===N)?.moduleState??null,k=Object.entries(r.labware).filter(([N,B])=>B.stack.includes("offDeck")).map(([N])=>N),D=Object.values(f);k.some(N=>D.includes(N))&&m&&d.push(aT());const M=O(E);M!=null&&(M.type===c.THERMOCYCLER_MODULE_TYPE&&M.lidOpen!==!0?d.push(On()):M.type===c.HEATERSHAKER_MODULE_TYPE?M.latchOpen!==!0?d.push(Ep()):M.targetSpeed!==null&&d.push(vn()):M.type===c.ABSORBANCE_READER_TYPE&&M.lidOpen!==!0?d.push(qr()):M.type===c.VACUUM_MODULE_TYPE&&M.currentPumpActivity.type!=="pumpDeactivated"&&d.push(Lp()));const G=c.locationIsOnModule(f)&&"moduleId"in f?f.moduleId:null,Y=c.locationIsOnLabware(f)?f.labwareId:null,ae=Y!=null?r.labware[Y].stack[1]:null,fe=ae??G;f==="offDeck"&&m&&d.push(Pn()),y&&g&&_?S.push(gw()):T&&g&&_&&S.push(Sw());const J=O(fe);J!=null&&(J.type===c.THERMOCYCLER_MODULE_TYPE&&J.lidOpen!==!0?d.push(On()):J.type===c.HEATERSHAKER_MODULE_TYPE?(J.latchOpen!==!0&&d.push(Ep()),J.targetSpeed!==null&&d.push(vn())):J.type===c.ABSORBANCE_READER_TYPE?J.lidOpen!==!0&&d.push(qr()):J.type===c.VACUUM_MODULE_TYPE&&J.currentPumpActivity.type!=="pumpDeactivated"&&d.push(Lp())),s[u]?.def.parameters.loadName===Lw&&f!=null&&c.locationIsOnDeck(f)&&("slotName"in f||"addressableAreaName"in f&&c.FLEX_STAGING_AREA_SLOT_ADDRESSABLE_AREAS.includes(f.addressableAreaName))&&d.push(wT());const Ve={labwareId:u,strategy:p,newLocation:f},Me=[{commandType:"moveLabware",key:$(),params:Ve}],je=s[u]?.pythonName;let ie="",ke=null;if(f==="offDeck")ie=Nn;else if(f==="systemLocation")ie="system_location";else if(f==="wasteChuteLocation")ie=Nn;else if("labwareId"in f){ie=s[f.labwareId].pythonName;const N=r.labware[f.labwareId].stack;ke=N[N.length-1]}else if("moduleId"in f)ke=r.modules[f.moduleId].slot,ie=i[f.moduleId].pythonName;else if("slotName"in f){const{slotName:N}=f;if(N in s){const B=ee(r.labware[N].stack);ie=c.getIsLid(s[N].def)?F(B):s[N].pythonName;const re=r.labware[N].stack;ke=re[re.length-1]}else{const B=typeof e.newLocation=="object"&&"slotName"in e.newLocation?e.newLocation.slotName:N;ie=l[B]!=null?B:F(N),ke=N}}else if("addressableAreaName"in f){const N=De.includes(f.addressableAreaName),B=c.WASTE_CHUTE_ADDRESSABLE_AREAS.includes(f.addressableAreaName),q=f.addressableAreaName==="fixedTrash",V=c.MOVABLE_TRASH_ADDRESSABLE_AREAS.includes(f.addressableAreaName)||q?Object.values(a)?.map(H=>H.location):[],Z=!B&&!N&&!Sa(f.addressableAreaName)?cy(f.addressableAreaName,q?"fixedTrashSlot":"trashBinAdapter",q?c.OT2_ROBOT_TYPE:c.FLEX_ROBOT_TYPE):null,W=V.find(H=>H===Z),x=W!=null?Object.values(a).find(H=>H.location===W)?.id:null;if(N){const H=typeof e.newLocation=="object"&&"addressableAreaName"in e.newLocation?e.newLocation.addressableAreaName:f.addressableAreaName;ie=l[H]!=null?H:F(f.addressableAreaName)}else if(x!=null&&!B)ie=a[x]?.pythonName??"";else if(x==null&&B)ie=Object.values(o)[0]?.pythonName??"";else if(Sa(f.addressableAreaName)){const[H]=Object.entries(r.modules).find(([,le])=>le.moduleState.type===c.VACUUM_MODULE_TYPE)??[];if(H!=null&&i[H]!=null){const{pythonName:le}=i[H];ie=`${le}.manifold_dock`}}else ie=""}if(ke!=null){const N=Ia({slot:ke,labwareState:r.labware,modulesState:r.modules}),B=ee(N),{isCompatible:q,isAboveStackLimit:re}=gy(u,N,s,i);q||d.push(dT()),re&&d.push(gT({slot:B}))}if(d.length>0)return{errors:d};ie===""&&console.error("expected to find a python new location but could not");const Be=m?", use_gripper=True":"",Ae=c.getIsLid(s[u].def),oe=r.labware[u].stack;let K="";if(Ae){const N=Iy(oe);if(N==null)console.error("expected to find a parent for labware to move but could not");else{const B=s[N]!=null,q=B&&c.getIsLid(s[N].def);oe.length===2||B&&q?K=F(ee(oe)):(B||!c.getIsLid(s[N].def))&&(K=s[N].pythonName)}}Ae&&K===""&&console.error("expected to find a valid lid move location but could not");const j=Ae?`${ge}.move_lid(${K}, ${ie}${Be})`:`${ge}.move_labware(${je}, ${ie}${Be})`;return{commands:Me,...S.length>0?{warnings:S}:{},python:j}},qe=(e,t,r)=>{const{pipetteId:n,fixtureId:a,offset:o}=e,{pipetteEntities:s,trashBinEntities:i,wasteChuteEntities:l}=t,u=s[n],p=u.spec.channels,d=u.pythonName,f=i[a]??l[a],m=f.pythonName;let h=py(p);return i[a]!=null&&(h=Xc(f.location)),{commands:[{commandType:"moveToAddressableArea",key:$(),params:{pipetteId:n,addressableAreaName:h,offset:o}}],python:`${d}.move_to(${m})`}},xc=(e,t,r)=>{const{runtimeParameters:n}=t,a=e.offset??{x:0,y:0,z:0},o=v(e.pipetteId,n),s=v(e.addressableAreaName,n),i=U(a.x,n),l=U(a.y,n),u=U(a.z,n),p=lt(e.alternateDropLocation??!0,n),d=e.speed==null?void 0:U(e.speed,n),f=e.minimumZHeight==null?void 0:U(e.minimumZHeight,n),m=e.forceDirect==null?void 0:lt(e.forceDirect,n),h=e.ignoreTipConfiguration==null?void 0:lt(e.ignoreTipConfiguration,n),_=[e.pipetteId,e.addressableAreaName,e.offset?.x,e.offset?.y,e.offset?.z,e.alternateDropLocation,e.speed,e.minimumZHeight,e.forceDirect,e.ignoreTipConfiguration],y=[o,s,i,l,u,p,d,f,m,h],T=_.flatMap((b,w)=>typeof b=="string"&&y[w]==null?[C({parameterName:b})]:[]);return T.length>0||o==null||s==null||i==null||l==null||u==null||p==null?{errors:T}:{commands:[{commandType:"moveToAddressableAreaForDropTip",key:$(),params:{pipetteId:o,addressableAreaName:s,offset:{x:i,y:l,z:u},alternateDropLocation:p,...d!=null?{speed:d}:{},...f!=null?{minimumZHeight:f}:{},...m!=null?{forceDirect:m}:{},...h!=null?{ignoreTipConfiguration:h}:{}}}]}},z=(e,t,r)=>{const{pipetteEntities:n,labwareEntities:a,runtimeParameters:o}=t,s=v(e.pipetteId,o),i=v(e.labwareId,o),l=v(e.wellName,o),u=e.wellLocation?.origin==null?void 0:v(e.wellLocation.origin,o),p=e.wellLocation?.offset?.x==null?void 0:U(e.wellLocation.offset.x,o),d=e.wellLocation?.offset?.y==null?void 0:U(e.wellLocation.offset.y,o),f=e.wellLocation?.offset?.z==null?void 0:U(e.wellLocation.offset.z,o),m=e.minimumZHeight==null?void 0:U(e.minimumZHeight,o),h=e.forceDirect==null?void 0:lt(e.forceDirect,o),_=e.speed==null?void 0:U(e.speed,o),y=[];if(s==null&&y.push(C({parameterName:e.pipetteId})),i==null&&y.push(C({parameterName:e.labwareId})),l==null&&y.push(C({parameterName:e.wellName})),e.wellLocation?.origin!=null&&u==null&&y.push(C({parameterName:e.wellLocation.origin})),typeof e.wellLocation?.offset?.x=="string"&&p==null&&y.push(C({parameterName:e.wellLocation.offset.x})),typeof e.wellLocation?.offset?.y=="string"&&d==null&&y.push(C({parameterName:e.wellLocation.offset.y})),typeof e.wellLocation?.offset?.z=="string"&&f==null&&y.push(C({parameterName:e.wellLocation.offset.z})),typeof e.minimumZHeight=="string"&&m==null&&y.push(C({parameterName:e.minimumZHeight})),typeof e.forceDirect=="string"&&h==null&&y.push(C({parameterName:e.forceDirect})),typeof e.speed=="string"&&_==null&&y.push(C({parameterName:e.speed})),y.length>0||s==null||i==null||l==null)return{errors:y};const T=e.wellLocation==null?void 0:{...u!=null?{origin:u}:{},...e.wellLocation.offset!=null?{offset:{...typeof p=="number"?{x:p}:{},...typeof d=="number"?{y:d}:{},...typeof f=="number"?{z:f}:{}}}:{}},b="moveToWell",w=r.labware,S=n[s]?.spec,g=r.pipettes[s]?.nozzles??c.ALL,L=r.pipettes[s]?.primaryNozzle??To({nozzles:g,channels:S?.channels}),I=(S?.displayCategory==="FLEX"||S?.channels===96)??!1,A=jn(i,r.labware);if(S||y.push(mt({pipette:s})),!i||!r.labware[i]?y.push(ht({actionName:b,labware:i})):ee(r.labware[i].stack)==="offDeck"&&y.push(Pn()),De.includes(A))y.push(Ht({typeOfStep:"move to well"}));else if(w[A]!=null){const J=ee(w[A].stack);De.includes(J)&&y.push(Ht({typeOfStep:b}))}Gn({pipette:s,labware:i,invariantContext:t,prevRobotState:r})&&y.push(Oa()),Ya(r.modules,r.labware,i)&&y.push(On()),Xa(r.modules,r.labware,i)&&y.push(Io()),ja(r.modules,r.labware,i)&&y.push(qr()),Qa(r.modules,r.labware,i)&&y.push(vn()),Zn(r.modules,A,I?c.FLEX_ROBOT_TYPE:c.OT2_ROBOT_TYPE)&&y.push(Pa()),I||(Yn(r.modules,A)&&y.push(va()),Kn(r.modules,A,S)&&y.push(Ra()),Za(r.modules,A,S,a[i])&&y.push(wo()));const E=t.pipetteEntities[s]?.spec.channels!==1,O=t.pipetteEntities[s]?.spec,k=_t({robotState:r,invariantContext:t,pipetteId:s,labwareId:i,wellLocationOffset:T?.offset??{x:0,y:0,z:0},wellTargetName:l,nozzleConfiguration:g,primaryNozzle:L});if(E&&O&&!k.isSafe&&y.push(xt({unsafePipetteMovementReason:k.reason})),y.length>0)return{errors:y};const D=n[s].pythonName,M=a[i].pythonName,G=o[e.wellName]!=null?e.wellName:F(l),Y=zt({...u!=null?{origin:u}:{},...e.wellLocation?.offset!=null?{offset:e.wellLocation.offset}:{}}),ae=[{commandType:"moveToWell",key:$(),params:{pipetteId:s,labwareId:i,wellName:l,wellLocation:T,...h!=null?{forceDirect:h}:{},...m!=null?{minimumZHeight:m}:{},..._!=null?{speed:_}:{}}}],fe=[`${M}[${G}]${Y}`];return typeof e.forceDirect=="string"?fe.push(`force_direct=${e.forceDirect}`):e.forceDirect&&fe.push("force_direct=True"),e.minimumZHeight&&fe.push(`minimum_z_height=${e.minimumZHeight}`),e.speed&&fe.push(`speed=${e.speed}`),{commands:ae,python:`${D}.move_to(${fe.join(", ")})`}},mo=(e,t,r)=>{const{tipTrackingOption:n=Ic,nozzles:a,primaryNozzle:o}=e,{runtimeParameters:s}=t,i=v(e.pipetteId,s),l=v(e.labwareId,s),u=v(e.wellName,s),p=[e.pipetteId,e.labwareId,e.wellName],d=[i,l,u],f=p.flatMap((I,A)=>typeof I=="string"&&d[A]==null?[C({parameterName:I})]:[]);if(f.length>0||i==null||l==null||u==null)return{errors:f};const m=[],h=t.pipetteEntities[i].spec.channels,_=_t({robotState:r,invariantContext:t,pipetteId:i,labwareId:l,wellLocationOffset:{x:0,y:0},wellTargetName:u,nozzleConfiguration:a,primaryNozzle:o}),y=Ip({tipState:r.tipState.tipracks[l],primaryNozzle:o,channels:h,nozzleConfiguration:a,wellName:u,tiprackDef:t.labwareEntities[l].def});_.isSafe||m.push(xt({unsafePipetteMovementReason:_.reason})),y.isSafe||m.push(ET()),y.isComplete!==!0&&m.push(AT());const T=ee(r.labware[l].stack);if(De.includes(T))m.push(Ht({typeOfStep:"pick up tip"}));else if(r.labware[T]!=null){const I=ee(r.labware[T].stack);De.includes(I)&&m.push(Ht({typeOfStep:"pick up tip"}))}const b=t.pipetteEntities[i].pythonName,w=t.labwareEntities[l].pythonName,S=s[e.wellName]!=null?e.wellName:F(u),g=n===Ot?`[${S}]`:"",L=`${b}.pick_up_tip(location=${w}${g})`;return m.length>0?{errors:m}:{commands:[{commandType:"pickUpTip",key:$(),params:{pipetteId:i,labwareId:l,wellName:u}}],python:L}},Y_=(e,t,r)=>{const{taskId:n,profileElements:a,blockMaxVolumeUl:o}=e,{runtimeParameters:s}=t,i=v(e.moduleId,s),l=[];i==null&&l.push(C({parameterName:e.moduleId}));const u=g=>{const L=U(g,s);return typeof g=="string"&&L==null&&l.push(C({parameterName:g})),L},p=g=>({celsius:u(g.celsius),holdSeconds:u(g.holdSeconds)}),d=a.map(g=>"steps"in g?{steps:g.steps.map(p),repetitions:u(g.repetitions)}:p(g)),f=o==null?void 0:u(o);if(i==null||l.length>0)return{errors:l};const m=t.moduleEntities[i].pythonName,h=a.map(g=>"steps"in g&&a.length>1?{...g,repetitions:U(g.repetitions,s)}:g),_=gb(h),y=_.repeatingProfileSteps.map(g=>`{${F("temperature")}: ${g.celsius}, ${F("hold_time_seconds")}: ${g.holdSeconds}},`).join(`
+`),b=`${`[
+${Q(y)}
 ],`}
-${l.numRepetitions},
-`+(e.blockMaxVolumeUl!==void 0?`block_max_volume=${e.blockMaxVolumeUl},`:""),m=(a!=null?`${a} = `:"")+`${i}.start_execute_profile(
-${Y(d)}
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o=t.moduleEntities[a].pythonName;return{commands:[{commandType:"heaterShaker/deactivateHeater",key:M(),params:{moduleId:a}}],python:`${o}.deactivate_heater()`}},ME=["1","4","7","10"],Q_=(e,t,r)=>{const{pipetteEntities:n,labwareEntities:a,moduleEntities:o,runtimeParameters:s}=t,i=B(e.moduleId,s);if(i==null)return{errors:[H({parameterName:e.moduleId})]};const l=r.modules[i].slot,u=Object.keys(n)[0],p=n[u]?.spec;if(!((p?.displayCategory==="FLEX"||p?.channels===96)??!1)&&Jy(r.labware,a,l)){const m=ME.includes(l)?"right":"left";return{errors:[uT(m)]}}const f=o[i].pythonName;return{commands:[{commandType:"heaterShaker/openLabwareLatch",key:M(),params:{moduleId:i}}],python:`${f}.open_labware_latch()`}},J_=(e,t,r)=>{const{moduleEntities:n,runtimeParameters:a}=t,o=B(e.moduleId,a),s=ie(e.rpm,a),i=[];if(o==null&&i.push(H({parameterName:e.moduleId})),typeof 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o=t.moduleEntities[a].pythonName;return{commands:[{commandType:"heaterShaker/deactivateShaker",key:M(),params:{moduleId:a}}],python:`${o}.deactivate_shaker()`}},Wc=(e,t,r)=>{const{moduleId:n}=e,{moduleEntities:a,labwareEntities:o}=t,s=[],i=a[n].pythonName,u=Object.values(r.labware).filter(f=>f.stack.includes(n)).find(f=>f.stack.find(m=>o[m]?.def.allowedRoles?.includes("lid")&&o[m]?.def.parameters.loadName!=="opentrons_tough_pcr_auto_sealing_lid")),p=u!=null?Mo(u.stack):null,d=p!=null?o[p].def.metadata.displayName:null;return d!=null&&s.push(bT({lidDisplayName:d})),s.length>0?{errors:s}:{commands:[{commandType:"thermocycler/closeLid",key:M(),params:{moduleId:n}}],python:`${i}.close_lid()`}},ey=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"thermocycler/deactivateBlock",key:M(),params:{moduleId:e.moduleId}}],python:`${n}.deactivate_block()`}},ty=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"thermocycler/deactivateLid",key:M(),params:{moduleId:e.moduleId}}],python:`${n}.deactivate_lid()`}},ry=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"thermocycler/openLid",key:M(),params:{moduleId:e.moduleId}}],python:`${n}.open_lid()`}},ny=(e,t,r)=>{e.celsius!==void 0&&console.warn("'volume' param not implemented for thermocycler/setTargetBlockTemperature, should not be set!");const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"thermocycler/setTargetBlockTemperature",key:M(),params:{moduleId:e.moduleId,celsius:e.celsius}}],python:`${n}.set_block_temperature(${e.celsius})`}},Yc=(e,t,r)=>{const{moduleId:n,celsius:a}=e,o=t.moduleEntities[n].pythonName;return{commands:[{commandType:"thermocycler/setTargetLidTemperature",key:M(),params:{moduleId:n,celsius:a}}],python:`${o}.set_lid_temperature(${a})`}};function O(e,t){return(r,n)=>e(t,r,n)}function R(e,t){return(r,n)=>{const a=e(t,r,n);if("python"in a){const{python:o,...s}=a;return s}return a}}const Ye="__air__",Wr="source_well",$n="dest_well";function ay(e){return a_.includes(e.parameters.loadName)}function Ta(e){return(e.parameters.quirks??[]).includes("vacuumSpacer")}function oy(e){return(e.parameters.quirks??[]).includes("vacuumSpacerSeat")}const sy=(e,t)=>e.filter(r=>r in t&&Ta(t[r].def)).map(r=>t[r].def.parameters.loadName),iy=(e,t,r)=>{if(!Ta(e))return{isCompatible:!1,isAboveStackLimit:!1};if(t.length===0)return{isCompatible:!0,isAboveStackLimit:!1};const n=sy(t,r),a=Mo(t);if(!(a in r))return{isCompatible:!0,isAboveStackLimit:!1};const o=r[a].def;if(!Ta(o)||oy(o))return{isCompatible:!1,isAboveStackLimit:!1};const s=e.parameters.loadName,i=o.parameters.loadName,l=n.includes(s),u=n.length>=o_,p=e.compatibleParentLabware?.includes(i)??!1,d=i 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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 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i_.includes(e.parameters.loadName)}function wa(e){return(e.parameters.quirks??[]).includes("vacuumSpacer")}function iy(e){return(e.parameters.quirks??[]).includes("vacuumSpacerSeat")}const ly=(e,t)=>e.filter(r=>r in t&&wa(t[r].def)).map(r=>t[r].def.parameters.loadName),uy=(e,t,r)=>{if(!wa(e))return{isCompatible:!1,isAboveStackLimit:!1};if(t.length===0)return{isCompatible:!0,isAboveStackLimit:!1};const n=ly(t,r),a=Fo(t);if(!(a in r))return{isCompatible:!0,isAboveStackLimit:!1};const o=r[a].def;if(!wa(o)||iy(o))return{isCompatible:!1,isAboveStackLimit:!1};const s=e.parameters.loadName,i=o.parameters.loadName,l=n.includes(s),u=n.length>=l_,p=e.compatibleParentLabware?.includes(i)??!1,d=i in(e.stackingOffsetWithLabware??{}),f=p||d,m=l||u;return{isCompatible:f&&!m,isAboveStackLimit:m}},$w=e=>(e.parameters.quirks??[]).includes("vacuumModuleDock"),cy=(e,t,r)=>{const o=c.getDeckDefFromRobotType(r).cutoutFixtures.find(l=>l.id.includes(t))?.providesAddressableAreas,i=(l=>{if(o!=null){for(const u 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l!=null?{...s,stackedOnNode:l}:{...s}});return o=_p(o,r),{...e,labware:o}};function Lg(e,t,r){const{runtimeParameters:n,labwareEntities:a}=t,o=v(e.labwareId,n);let s=null;if(typeof e.newLocation=="string"){const O=v(e.newLocation,n);O!=null&&(s=O)}else if("labwareId"in e.newLocation){const O=v(e.newLocation.labwareId,n);O!=null&&(s=O===e.newLocation.labwareId?e.newLocation:{labwareId:O})}else if("moduleId"in e.newLocation){const O=v(e.newLocation.moduleId,n);O!=null&&(s=O===e.newLocation.moduleId?e.newLocation:{moduleId:O})}else if("slotName"in e.newLocation){const O=v(e.newLocation.slotName,n);O!=null&&(s=O===e.newLocation.slotName?e.newLocation:{slotName:O})}else{const O=v(e.newLocation.addressableAreaName,n);O!=null&&(s=O===e.newLocation.addressableAreaName?e.newLocation:{addressableAreaName:O})}if(o==null||s==null){console.error(`forMoveLabware: arg resolved to null (labwareId=${String(o)}, newLocation=${String(s)})`);return}const{robotState:i}=r,{modules:l,labware:u}=i;if(u[o]==null)return;const p=ee(u[o].stack),d=$o(u,p,o),f=d.indexOf(o),m=d.slice(0,f+1),h=c.getIsLid(a[o].def);let _=!1;const y=Object.entries(l).find(([O,{slot:k}])=>{const{type:D}=t.moduleEntities[O]??{};return D===c.FLEX_STACKER_MODULE_TYPE&&k===p})??null,T=y!=null&&y[1].moduleState.type===c.FLEX_STACKER_MODULE_TYPE?rr.map(O=>y[1].moduleState.labwareOnShuttle?.[O]).filter(O=>O!=null):[],b=T.includes(o)?T.slice(0,T.indexOf(o)+1):[];if(y!=null&&y[1].moduleState.type===c.FLEX_STACKER_MODULE_TYPE){const O=y[1].moduleState,k=rr.findIndex(D=>O.labwareOnShuttle?.[D]===o);if(k!==-1&&O.labwareOnShuttle!=null)for(const D of rr.slice(k,rr.length))if(D==="primaryLabwareId"){O.labwareOnShuttle=null;break}else O.labwareOnShuttle[D]=null}const w=s,S=Object.entries(l).find(([O,{slot:k}])=>{const{type:D}=t.moduleEntities[O]??{};return D===c.FLEX_STACKER_MODULE_TYPE&&typeof w=="object"&&("moduleId"in w&&w.moduleId===O||"slotName"in w&&k===w.slotName)})??null,[g,L]=S??[];if(g!=null&&L!=null){const O=b.length>0?b:Ia({slot:p,labwareState:u,modulesState:l}),k=O.indexOf(o),D=L.moduleState;if(k!==-1){const M=O.slice(0,k+1).toReversed();if(D.labwareOnShuttle==null&&(D.labwareOnShuttle={primaryLabwareId:"",adapterLabwareId:null,lidLabwareId:null}),M.length===3)for(let G=0;G<rr.length;G++){const Y=rr[G];D.labwareOnShuttle[Y]=M[G]}else if(M.length===2){const G=M.some(Y=>t.labwareEntities[Y].def.allowedRoles?.some(ae=>ae==="lid"))?["primaryLabwareId","lidLabwareId"]:["adapterLabwareId","primaryLabwareId"];for(let Y=0;Y<G.length;Y++){const ae=G[Y];D.labwareOnShuttle[ae]=M[Y]}}else M.length===1&&(D.labwareOnShuttle.primaryLabwareId=M[0])}}const I=[];if(c.locationIsOffDeck(s))I.push(s);else if("moduleId"in s)if(l[s.moduleId].moduleState.type===c.FLEX_STACKER_MODULE_TYPE)I.push(l[s.moduleId].slot);else if(t.moduleEntities[s.moduleId]?.type===c.VACUUM_MODULE_TYPE){const O=l[s.moduleId].slot,k=Ia({slot:O,labwareState:u,modulesState:l});k.length>0?I.push(...k):I.push(s.moduleId,O)}else I.push(s.moduleId,l[s.moduleId].slot);else if("slotName"in s){const{slotName:O}=s;O in u?(_=c.getIsPipettableLabware(a[O].def),I.push(...u[O].stack)):I.push(O)}else if("labwareId"in s){const O=s.labwareId;_=c.getIsPipettableLabware(a[O].def);const k=u[O].stack;I.push(...k)}else if("addressableAreaName"in s)if(Sa(s.addressableAreaName)){const O=Object.entries(l).find(([k])=>t.moduleEntities[k]?.type===c.VACUUM_MODULE_TYPE)?.[0];I.push(wc),O!=null&&I.push(O),I.push(s.addressableAreaName)}else I.push(s.addressableAreaName);m.forEach((O,k)=>{if(u[O]!=null){const D=m.slice(k+1);i.labware[O]={...i.labware[O],stack:[O,...D,...I],...h&&_?{sterility:dc}:{}}}});const A=typeof s=="object"&&"labwareId"in s&&c.getIsPipettableLabware(a[s.labwareId].def);let E=s;if(typeof s=="object"&&s!==null&&"moduleId"in s&&l[s.moduleId].moduleState.type===c.FLEX_STACKER_MODULE_TYPE){const O=Uo(l[s.moduleId].slot);O!=null&&(E={addressableAreaName:O})}else if(typeof s=="object"&&s!==null&&"moduleId"in s&&t.moduleEntities[s.moduleId]?.type===c.VACUUM_MODULE_TYPE){const O=l[s.moduleId].slot,k=Ia({slot:O,labwareState:u,modulesState:l}),D=k.length>0?k[0]:null;D!=null&&D in a&&(E={labwareId:D})}i.labware[o].stackedOnNode=E,A&&(i.labware[o].sterility=dc),i.labware=_p(or(i.labware,O=>fg(O,"contains")),a)}function Og(e,t,r){const{runtimeParameters:n}=t,a=v(e.pipetteId,n),o=v(e.addressableAreaName,n);if(a==null||o==null){console.error(`forMoveToAddressableArea: arg resolved to null (pipetteId=${String(a)}, addressableAreaName=${String(o)})`);return}const{wasteChuteEntities:s,trashBinEntities:i}=t,l=o,u=c.WASTE_CHUTE_ADDRESSABLE_AREAS.includes(l),p=Object.values(i).find(m=>m.location===dy(l))?.id,d=u?Object.values(s)[0].id:p,{robotState:f}=r;f.pipettes[a]={...f.pipettes[a],entityId:d}}function vg(e,t,r){const{runtimeParameters:n}=t,a=v(e.pipetteId,n),o=v(e.labwareId,n),s=v(e.wellName,n);if(a==null||o==null||s==null){console.error(`forMoveToWell: arg resolved to null (pipetteId=${String(a)}, labwareId=${String(o)}, wellName=${String(s)})`);return}const{robotState:i}=r;i.pipettes[a]={...i.pipettes[a],entityId:o,wellName:s}}function Pg(e,t,r){const{runtimeParameters:n}=t,a=v(e.pipetteId,n),o=v(e.labwareId,n),s=v(e.wellName,n);if(a==null||o==null||s==null){console.error(`forPickUpTip: arg resolved to null (pipetteId=${String(a)}, labwareId=${String(o)}, wellName=${String(s)})`);return}const i=t.pipetteEntities[a].spec,l=t.labwareEntities[o].def;if(!c.getIsTiprack(l))throw new Error(`forPickUpTip expected ${o} to be a tiprack`);const u=r.robotState.tipState,p=r.robotState.pipettes[a].nozzles,d=r.robotState.pipettes[a].primaryNozzle,f=Tp(p,i),m=(y,T)=>y.find(b=>b.includes(T)),h=(y,T)=>{const b=y.findIndex(S=>S.includes(T));if(b===-1)return null;const w=y[b].indexOf(T);return y.map(S=>S[w])},_=(y,T)=>{const b=c.PARTIAL_NOZZLE_MAP[d],w=y.findIndex(A=>A.includes(T)),S=y[w].indexOf(T),g=y[w];if(g.length-S<b){const A=g.length-b;return g.slice(A,g.length)}const I=S+b;return g.slice(S,Math.min(I,g.length))};if(u.pipettes[a].hasTip=!0,u.pipettes[a].tiprackURI=o,f===c.SINGLE)u.tipracks[o][s]=_e;else if(f===c.PARTIAL_COLUMN&&d){const y=_(l.ordering,s);y==null?console.error(`Invalid primary well for tip pick up for partial config: ${s}`):y.forEach(function(T){u.tipracks[o][T]=_e})}else if(f===c.COLUMN){const y=m(l.ordering,s);y==null&&console.error(`Invalid primary well for tip pickup: ${s}`),y?.forEach(function(T){u.tipracks[o][T]=_e})}else if(f===c.ROW){const y=h(l.ordering,s);y==null&&console.error("Invalid primary well for tip pickup: "+s),y?.forEach(function(T){u.tipracks[o][T]=_e})}else if(f===c.ALL)if(i.channels===96)l.ordering.reduce((T,b)=>T.concat(b),[]).forEach(function(T){u.tipracks[o][T]=_e});else{const y=m(l.ordering,s);y==null&&console.error(`Invalid primary well for tip pickup: ${s}`),y?.forEach(function(T){u.tipracks[o][T]=_e})}else if(i.channels===1)u.tipracks[o][s]=_e;else if(i.channels===96)l.ordering.reduce((T,b)=>T.concat(b),[]).forEach(function(T){u.tipracks[o][T]=_e});else{const y=m(l.ordering,s);y==null&&console.error(`Invalid primary well for tip pickup: ${s}`),y?.forEach(function(T){u.tipracks[o][T]=_e})}r.robotState.pipettes[a].tiprackId=o,r.robotState.pipettes[a].tipWell=s}const Rg={clean:Fa,empty:_e,used:tr};function kg(e,t,r){const{labwareId:n,wellNames:a,tipWellState:o="clean"}=e,s=Rg[o],i=r.robotState.tipState.tipracks[n];i!=null&&a.forEach(l=>{i[l]=s})}const Zr=(e,t)=>{const r=Rt(e,t);return r.type===c.THERMOCYCLER_MODULE_TYPE?r:(console.error(`Thermocycler state updater expected ${t} moduleState to be thermocycler, but it was ${r.type}`),{})},Ng=(e,t,r)=>{const{runtimeParameters:n}=t,a=v(e.moduleId,n),o=U(e.celsius,n);if(a==null||o==null){console.error(`forThermocyclerSetTargetBlockTemperature: arg resolved to null (moduleId=${String(a)}, celsius=${String(o)})`);return}const{robotState:s}=r,i=Zr(s,a);i.currentBlockActivity={type:"blockTargetTemp",blockTargetTemp:o}},Cg=(e,t,r)=>{const{runtimeParameters:n}=t,a=v(e.moduleId,n),o=U(e.celsius,n);if(a==null||o==null){console.error(`forThermocyclerSetTargetLidTemperature: arg resolved to null (moduleId=${String(a)}, celsius=${String(o)})`);return}const{robotState:s}=r,i=Zr(s,a);i.lidTargetTemp=o},Dg=(e,t,r)=>{},Mg=(e,t,r)=>{},Fg=(e,t,r)=>{},Ug=(e,t,r)=>{const{runtimeParameters:n}=t,a=v(e.moduleId,n);if(a==null){console.error(`forThermocyclerDeactivateBlock: arg resolved to null (moduleId=${String(a)})`);return}const{robotState:o}=r,s=Zr(o,a);s.currentBlockActivity={type:"blockDeactivated"}},$g=(e,t,r)=>{const{runtimeParameters:n}=t,a=v(e.moduleId,n);if(a==null){console.error(`forThermocyclerDeactivateLid: arg resolved to null (moduleId=${String(a)})`);return}const{robotState:o}=r,s=Zr(o,a);s.lidTargetTemp=null},qg=(e,t,r)=>{const{runtimeParameters:n}=t,a=v(e.moduleId,n);if(a==null){console.error(`forThermocyclerCloseLid: arg resolved to null (moduleId=${String(a)})`);return}const{robotState:o}=r,s=Zr(o,a);s.lidOpen=!1},Vg=(e,t,r)=>{const{runtimeParameters:n}=t,a=v(e.moduleId,n);if(a==null){console.error(`forThermocyclerOpenLid: arg resolved to null (moduleId=${String(a)})`);return}const{robotState:o}=r,s=Zr(o,a);s.lidOpen=!0};function hh(e,t){const r=U(e.celsius,t),n=U(e.holdSeconds,t);return r==null||n==null?(console.error(`resolveProfileStep: arg resolved to null (celsius=${String(r)}, holdSeconds=${String(n)})`),null):{celsius:r,holdSeconds:n}}function Bg(e,t){const r=[];for(const n of e)if("steps"in n){const a=U(n.repetitions,t);if(a==null)return console.error(`resolveProfileElements: arg resolved to null (repetitions=${String(a)})`),null;const o=[];for(const s of n.steps){const i=hh(s,t);if(i==null)return console.error("resolveProfileElements: arg resolved to null (step=null)"),null;o.push(i)}r.push({steps:o,repetitions:a})}else{const a=hh(n,t);if(a==null)return console.error("resolveProfileElements: arg resolved to null (step=null)"),null;r.push(a)}return r}const xg=(e,t,r)=>{const{profile:n,...a}=e;Wy({profileElements:n,...a},t,r)},Wy=(e,t,r)=>{const n=NaN+$();Gy({...e,taskId:n},t,r)&&Yy(n,r,c.THERMOCYCLER_MODULE_TYPE)},Gy=(e,t,r)=>{const{runtimeParameters:n}=t,a=v(e.moduleId,n),o=Bg(e.profileElements,n);if(a==null||o==null)return console.error(`forThermocyclerStartRunExtendedProfile: arg resolved to null (moduleId=${String(a)}, profileElements=${String(o)})`),!1;let s=null;if(e.taskId!=null){const u=v(e.taskId,n);if(u==null)return console.error(`forThermocyclerStartRunExtendedProfile: arg resolved to null (taskId=${String(u)})`),!1;s=u}const{robotState:i}=r,l=Zr(i,a);return l.currentBlockActivity={type:"profile",profileElements:o,taskId:s},l.numProfilesStarted++,!0},Hg=e=>{if(e.currentBlockActivity.type==="profile"){const t=zg(e.currentBlockActivity.profileElements);return e.currentBlockActivity=t!=null?{type:"blockTargetTemp",blockTargetTemp:t}:{type:"blockDeactivated"},!0}else return!1};function zg(e){const t=op(Sp(e));return t!=null?t.celsius:null}const jg=(e,t)=>{const[r,n]=[e.ordering,t.ordering];if(r.length!==n.length)return!1;for(let a=0;a<r.length;a++){const[o,s]=[r[a],n[a]];if(o.length!==s.length)return!1}return!0},yp=(e,t,r)=>{const{labware:n,liquidState:a}=t,s=$o(n,e).filter(i=>i in r&&c.getIsPipettableLabware(r[i].def));if(s.length===1){const i=a.labware[s[0]];Object.entries(i).forEach(([l,u])=>{i[l]={}});return}if(s.length===2){const i=s[0],l=s[1];if(!jg(r[i].def,r[l].def))return;const u=a.labware[i],p=a.labware[l];Object.entries(p).forEach(([d,f])=>{const m=u[d];Object.entries(m).forEach(([h,{volume:_}])=>{f[h]={volume:h in f?f[h].volume+_:_}}),u[d]={}})}},Wg=(e,t,r)=>{const n=v(e.moduleId,t.runtimeParameters);if(n==null){console.error(`forVacuumOpenVent: arg resolved to null (moduleId=${String(n)})`);return}const{robotState:a}=r,o=ct(a,n);o!=null&&(o.ventStatus=Sc)},Gg=(e,t,r)=>{const n=v(e.moduleId,t.runtimeParameters);if(n==null){console.error(`forVacuumCloseVent: arg resolved to null (moduleId=${String(n)})`);return}const{robotState:a}=r,o=ct(a,n);o!=null&&(o.ventStatus=Ua)},Yg=(e,t,r)=>{const{runtimeParameters:n,labwareEntities:a}=t,o=v(e.moduleId,n),s=U(e.gaugePressure,n),i=e.duration==null?void 0:U(e.duration,n),l=e.ventAfter==null?!0:lt(e.ventAfter,n);if(o==null||s==null||i===null||l==null){console.error(`forVacuumSetPumpPressure: arg resolved to null (moduleId=${String(o)}, gaugePressure=${String(s)}, duration=${String(i)}, ventAfter=${String(l)})`);return}const{taskId:u}=e,{robotState:p}=r,d=ct(p,o);d!=null&&(yp(o,p,a),i==null||u==null?d.currentPumpActivity={type:"indefiniteHold",mode:ec,targetPressure:s}:(d.currentPumpActivity={type:"timedHold",mode:ec,targetPressure:s,durationSeconds:i,taskId:u,ventAfter:l},d.numPumpActivitiesStarted++),d.ventStatus=Ua)},Kg=(e,t,r)=>{const{runtimeParameters:n,labwareEntities:a}=t,o=v(e.moduleId,n),s=U(e.percentPower,n),i=e.duration==null?void 0:U(e.duration,n),l=e.ventAfter==null?!0:lt(e.ventAfter,n);if(o==null||s==null||i===null||l==null){console.error(`forVacuumSetPumpPower: arg resolved to null (moduleId=${String(o)}, percentPower=${String(s)}, duration=${String(i)}, ventAfter=${String(l)})`);return}const{taskId:u}=e,{robotState:p}=r,d=ct(p,o);d!=null&&(yp(o,p,a),i==null||u==null?d.currentPumpActivity={type:"indefiniteHold",mode:Ju,targetPower:s}:(d.currentPumpActivity={type:"timedHold",mode:Ju,targetPower:s,durationSeconds:i,taskId:u,ventAfter:l},d.numPumpActivitiesStarted++),d.ventStatus=Ua)},Zg=(e,t,r)=>{const n=v(e.moduleId,t.runtimeParameters);if(n==null){console.error(`forVacuumStopPump: arg resolved to null (moduleId=${String(n)})`);return}const{robotState:a}=r,o=ct(a,n);o!=null&&(o.currentPumpActivity={type:"pumpDeactivated"})},Xg=(e,t,r)=>{const{runtimeParameters:n,labwareEntities:a}=t,o=v(e.moduleId,n),s=lt(e.ventAfter,n);if(o==null||s==null){console.error(`forVacuumStartRunProfile: arg resolved to null (moduleId=${String(o)}, ventAfter=${String(s)})`);return}const{robotState:i}=r,l=ct(i,o),{taskId:u,profile:p}=e;l==null||u==null||(yp(o,i,a),l.currentPumpActivity={type:"profile",profileElements:p,taskId:u,ventAfter:s},l.numPumpActivitiesStarted++)},Qg=e=>{if(e.currentPumpActivity.type==="timedHold"||e.currentPumpActivity.type==="profile"){const t=e.currentPumpActivity.ventAfter;return e.currentPumpActivity={type:"pumpDeactivated"},e.ventStatus=t?Sc:Ua,!0}return!1};function Jg(e,t,r){const{runtimeParameters:n}=t;for(const a of e.task_ids){const o=v(a,n);o==null&&console.error(`forWaitForTasks: arg resolved to null (taskId=${String(o)})`),o!=null&&Yy(o,r)||r.warnings.push(Aw())}}const Yy=(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"?Hg(a.moduleState):a.moduleState.type==="vacuumModuleType"?Qg(a.moduleState):(console.log(`unexpected module type with task: ${a.moduleState.type}`),!1)},zn=(e,t)=>{const r=Rt(e,t);return r.type===c.HEATERSHAKER_MODULE_TYPE?r:(console.error(`Heater-Shaker state updater expected ${t} moduleState to be heaterShaker, but it was ${r.type}`),{})},eE=(e,t,r)=>{const{robotState:n}=r,{runtimeParameters:a}=t,o=v(e.moduleId,a),s=U(e.celsius,a);if(o==null||s==null){console.error(`forHeaterShakerSetTargetTemperature: arg resolved to null (moduleId=${String(o)}, celsius=${String(s)})`);return}const i=zn(n,o);i.targetTemp=s},tE=(e,t,r)=>{const{robotState:n}=r,{runtimeParameters:a}=t,o=v(e.moduleId,a);if(o==null){console.error(`forHeaterShakerDeactivateHeater: arg resolved to null (moduleId=${String(o)})`);return}const s=zn(n,o);s.targetTemp=null},rE=(e,t,r)=>{const{robotState:n}=r,{runtimeParameters:a}=t,o=v(e.moduleId,a),s=U(e.rpm,a);if(o==null||s==null){console.error(`forHeaterShakerSetTargetShakeSpeed: arg resolved to null (moduleId=${String(o)}, rpm=${String(s)})`);return}const i=zn(n,o);i.targetSpeed=s},nE=(e,t,r)=>{const{robotState:n}=r,{runtimeParameters:a}=t,o=v(e.moduleId,a);if(o==null){console.error(`forHeaterShakerStopShake: arg resolved to null (moduleId=${String(o)})`);return}const s=zn(n,o);s.targetSpeed=null},aE=(e,t,r)=>{const{robotState:n}=r,{runtimeParameters:a}=t,o=v(e.moduleId,a);if(o==null){console.error(`forHeaterShakerOpenLatch: arg resolved to null (moduleId=${String(o)})`);return}const s=zn(n,o);s.latchOpen=!0},oE=(e,t,r)=>{const{robotState:n}=r,{runtimeParameters:a}=t,o=v(e.moduleId,a);if(o==null){console.error(`forHeaterShakerCloseLatch: arg resolved to null (moduleId=${String(o)})`);return}const s=zn(n,o);s.latchOpen=!1},sE=(e,t,r)=>{const{runtimeParameters:n}=t,a=v(e.pipetteId,n);if(a==null){console.error(`forBlowOutInPlace: arg resolved to null (pipetteId=${String(a)})`);return}const{robotState:o}=r,s=o.pipettes[a].entityId??"";xo({invariantContext:t,pipetteId:a,prevLiquidState:o.liquidState,useFullVolume:!0,robotStateAndWarnings:r,entityId:s})},iE=(e,t,r)=>{const{runtimeParameters:n}=t,a=v(e.pipetteId,n);if(a==null){console.error(`forDropTipInPlace: arg resolved to null (pipetteId=${String(a)})`);return}const{robotState:o}=r,s=o.pipettes[a].entityId??"";o.tipState.pipettes[a]={hasTip:!1,tiprackURI:null},xo({invariantContext:t,prevLiquidState:o.liquidState,pipetteId:a,useFullVolume:!0,robotStateAndWarnings:r,entityId:s}),o.pipettes[a].tiprackId=void 0};function Ky(e,t){e.type===c.MAGNETIC_MODULE_TYPE&&(e.engaged=t)}function lE(e,t,r){const{robotState:n}=r,a=v(e.moduleId,t.runtimeParameters);if(a==null){console.error(`forEngageMagnet: arg resolved to null (moduleId=${String(a)})`);return}const o=Rt(n,a);Ky(o,!0)}function uE(e,t,r){const{robotState:n}=r,a=v(e.moduleId,t.runtimeParameters);if(a==null){console.error(`forDisengageMagnet: arg resolved to null (moduleId=${String(a)})`);return}const o=Rt(n,a);Ky(o,!1)}const Cu=(e,t)=>{if(t==null)return console.error("expected to find defURI but could not in getLabwareByDefURI"),null;const r=e.findIndex(a=>a.labwareDefURI===t);if(r===-1)return null;const[n]=e.splice(r,1);return n.id},Zy=(e,t,r,n)=>{const a=e.labwareInHopper??[];t.forEach(o=>{const{primaryLabwareId:s,adapterLabwareId:i,lidLabwareId:l}=o;r.labware[s]={stack:[s,...l!=null?[l]:[],...n]},i!=null&&(r.labware[i]={stack:[i,s,...l!=null?[l]:[],...n]}),l!=null&&(r.labware[l]={stack:[l,...n]}),a.push({primaryLabwareId:s,adapterLabwareId:i??null,lidLabwareId:l??null})}),e.labwareInHopper=a},Xy=(e,t,r,n,a,o,s,i)=>{const u=Object.entries(e.labware).filter(([d,f])=>f[o]===t[o]).map(([d])=>d).map(d=>r[d]),p=[];for(let d=0;d<n;d++){const f=Cu(u,t.storedLabwareDetails?.primaryLabwareURI),m=s!=null?Cu(u,t.storedLabwareDetails?.adapterLabwareURI):null,h=i!=null?Cu(u,t.storedLabwareDetails?.lidLabwareURI):null;f!=null&&(e.labware[f]={stack:[f,...h!=null?[h]:[],...a]},m!=null&&(e.labware[m]={stack:[m,f,...h!=null?[h]:[],...a]}),h!=null&&(e.labware[h]={stack:[h,...a]}),p.push({primaryLabwareId:f,adapterLabwareId:m,lidLabwareId:h})),t.labwareInHopper=p}},cE=(e,t,r)=>{const{robotState:n}=r,{runtimeParameters:a}=t,o=v(e.moduleId,a),s=e.count==null?void 0:U(e.count,a);if(o==null||s===null){console.error(`forFlexStackerEmpty: arg resolved to null (moduleId=${String(o)}, count=${String(s)})`);return}const 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_=[et,s,u];for(const b of h){const w=[b.adapterLabwareId,b.primaryLabwareId,b.lidLabwareId,..._].filter(g=>g!=null);n.labware[b.primaryLabwareId]={...n.labware[b.primaryLabwareId],stack:w.slice(w.indexOf(b.primaryLabwareId))},b.adapterLabwareId!=null&&(n.labware[b.adapterLabwareId]={...n.labware[b.adapterLabwareId],stack:w.slice(w.indexOf(b.adapterLabwareId))}),b.lidLabwareId!=null&&(n.labware[b.lidLabwareId]={...n.labware[b.lidLabwareId],stack:w.slice(w.indexOf(b.lidLabwareId))});let S=null;for(const g of w)a[g]!=null&&(S==null?n.labware[g].stackedOnNode={kind:"inStackerHopper",moduleId:s}:n.labware[g].stackedOnNode={labwareId:S},S=g)}const y=p.labwareInHopper??[],T=h.map(({primaryLabwareId:b,adapterLabwareId:w,lidLabwareId:S})=>({primaryLabwareId:b,adapterLabwareId:w,lidLabwareId:S}));p.labwareInHopper=[...y,...T]},Du=(e,t)=>{const r=v(e.loadName,t),n=v(e.namespace,t),a=U(e.version,t);return r==null||n==null||a==null?null:{loadName:r,namespace:n,version:a}},dE=(e,t,r)=>{const{robotState:n}=r,{labwareEntities:a,runtimeParameters:o}=t,s=v(e.moduleId,o),i=Du(e.primaryLabware,o),l=e.adapterLabware==null?null:Du(e.adapterLabware,o),u=e.lidLabware==null?null:Du(e.lidLabware,o),p=e.initialCount==null?void 0:U(e.initialCount,o);if(s==null||i==null||e.adapterLabware!=null&&l==null||e.lidLabware!=null&&u==null||p===null){console.error(`forFlexStackerSetStoredLabware: arg resolved to null (moduleId=${String(s)}, primaryLabware=${String(i)}, adapterLabware=${String(l)}, lidLabware=${String(u)}, initialCount=${String(p)})`);return}let d;if(p==null&&e.initialStoredLabware!=null){d=[];for(const _ of e.initialStoredLabware){const y=v(_.primaryLabwareId,o),T=_.adapterLabwareId==null?null:v(_.adapterLabwareId,o),b=_.lidLabwareId==null?null:v(_.lidLabwareId,o);if(y==null||_.adapterLabwareId!=null&&T==null||_.lidLabwareId!=null&&b==null){console.error(`forFlexStackerSetStoredLabware: arg 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Set(d),m=Array.from(f),h=m.find(I=>Object.values(a).find(A=>A.labwareDefURI===I&&!A.def.allowedRoles?.includes("lid")&&!A.def.allowedRoles?.includes("adapter"))),_=m.find(I=>Object.values(a).find(A=>A.labwareDefURI===I&&A.def.allowedRoles?.includes("adapter"))),y=m.find(I=>Object.values(a).find(A=>A.labwareDefURI===I&&A.def.allowedRoles?.includes("lid")));if(h==null)throw new Error(`expected to find primaryLabwareURI for storedLabwareDetails but could not with labware ${l}`);p.storedLabwareDetails={primaryLabwareURI:h,adapterLabwareURI:_??null,lidLabwareURI:y??null};const T=[];for(const I of l){const A=a[I].labwareDefURI;if(A===h)T.push({primary:I,adapter:null,lid:null});else if(A===_){const E=T[T.length-1];E&&(E.adapter=I)}else if(A===y){const E=T[T.length-1];E&&(E.lid=I)}}const b=[et,s,u];for(const I of T){const A=[I.adapter,I.primary,I.lid,...b].filter(E=>E!=null);n.labware[I.primary]={...n.labware[I.primary],stack:A.slice(A.indexOf(I.primary))},I.adapter!=null&&(n.labware[I.adapter]={...n.labware[I.adapter],stack:A.slice(A.indexOf(I.adapter))}),I.lid!=null&&(n.labware[I.lid]={...n.labware[I.lid],stack:A.slice(A.indexOf(I.lid))})}const w=p.labwareInHopper??[],S=T.map(I=>({primaryLabwareId:I.primary,adapterLabwareId:I.adapter,lidLabwareId:I.lid})),g=new Map(w.map(I=>[I.primaryLabwareId,I])),L=[];for(const I of S)L.push(I),g.delete(I.primaryLabwareId);for(const I of w)g.has(I.primaryLabwareId)&&L.push(I);p.labwareInHopper=L},mE=(e,t,r)=>{const{robotState:n}=r,{labwareEntities:a,runtimeParameters:o}=t,s=v(e.moduleId,o),i=e.count==null?void 0:U(e.count,o);if(s==null||i===null){console.error(`forFlexStackerFill: arg resolved to null (moduleId=${String(s)}, count=${String(i)})`);return}const l=n.modules[s].slot,u=yt(n,s),p=[et,s,l];if(u!=null){const d=u.storedLabwareDetails?.adapterLabwareURI,f=u.storedLabwareDetails?.lidLabwareURI;if(i!=null)Xy(n,u,a,i,p,"fillCount",d,f);else if(e.labwareToStore!=null){const m=[];for(const h of e.labwareToStore){const _=v(h.primaryLabwareId,o),y=h.adapterLabwareId==null?null:v(h.adapterLabwareId,o),T=h.lidLabwareId==null?null:v(h.lidLabwareId,o);if(_==null||h.adapterLabwareId!=null&&y==null||h.lidLabwareId!=null&&T==null){console.error(`forFlexStackerFill: arg resolved to null (primaryLabwareId=${String(_)}, adapterLabwareId=${String(y)}, lidLabwareId=${String(T)})`);return}m.push({primaryLabwareId:_,adapterLabwareId:y,lidLabwareId:T})}Zy(u,m,n,p)}u.fillCount=(u?.fillCount??0)+1}},hE=(e,t,r)=>{const{robotState:n}=r,{runtimeParameters:a}=t,o=v(e.moduleId,a);if(o==null){console.error(`forFlexStackerRetrieve: arg resolved to null (moduleId=${String(o)})`);return}const s=yt(n,o),i=n.modules[o].slot;if(s!=null){const{labwareInHopper:l,labwareOnShuttle:u}=s;if(l!=null&&l.length>0&&u==null){const p=l[0];s.labwareOnShuttle=p,l.shift();const d=[i];let f=null;for(const m of rr){const h=p[m];if(h!=null){if(d.unshift(h),n.labware[h].stack=[...d],f==null){const _=Uo(i);_!=null?n.labware[h].stackedOnNode={addressableAreaName:_}:console.warn(`Could not find an addressable area for retrieved labware in stacker module ${o} at slot ${i}`)}else n.labware[h].stackedOnNode={labwareId:f};f=h}}}}},_E=(e,t,r)=>{const{robotState:n}=r,{runtimeParameters:a}=t,o=v(e.moduleId,a);if(o==null){console.error(`forFlexStackerStore: arg resolved to null (moduleId=${String(o)})`);return}const s=yt(n,o),i=n.modules[o].slot;if(s!=null){const{labwareOnShuttle:l}=s;if(l!=null){s.labwareInHopper=[l,...s.labwareInHopper??[]],s.labwareOnShuttle=null;let u=null;for(const p of rr){const d=l[p];d!=null&&(n.labware[d].stack=[d,et,o,i],u==null?(n.labware[d].stackedOnNode={kind:"inStackerHopper",moduleId:o},u=d):n.labware[d].stackedOnNode={labwareId:u})}s.storedLabwareDetails==null&&(s.storedLabwareDetails={primaryLabwareURI:t.labwareEntities[l.primaryLabwareId].labwareDefURI,adapterLabwareURI:l.adapterLabwareId!=null?t.labwareEntities[l.adapterLabwareId].labwareDefURI:null,lidLabwareURI:l.lidLabwareId!=null?t.labwareEntities[l.lidLabwareId].labwareDefURI:null})}}};function Qy(e,t,r){e.type===c.TEMPERATURE_MODULE_TYPE&&(e.targetTemperature=t,e.status=r)}function yE(e,t,r){const{robotState:n}=r,{runtimeParameters:a}=t,o=v(e.moduleId,a),s=U(e.celsius,a);if(o==null||s==null){console.error(`forSetTemperature: arg resolved to null (moduleId=${String(o)}, celsius=${String(s)})`);return}const i=Rt(n,o);Qy(i,s,Tc)}function bE(e,t,r){const{robotState:n}=r,{runtimeParameters:a}=t,o=v(e.moduleId,a),s=U(e.celsius,a);if(o==null||s==null){console.error(`forAwaitTemperature: arg 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getNextRobotStateAndWarning");switch(e.commandType){case"aspirateWhileTracking":case"aspirate":case"aspirateInPlace":if(e.meta?.isAirGap===!0)break;vS(e.params,t,r);break;case"airGapInPlace":fS(e.params,t,r);break;case"dispenseWhileTracking":case"dispense":case"dispenseInPlace":if(e.meta?.isAirGap===!0)break;kS(e.params,t,r);break;case"blowout":PS(e.params,t,r);break;case"dropTip":{const{pipetteId:n,labwareId:a,wellName:o}=e.params;NS({pipette:n,dropTipLocation:a,wellName:o},t,r);break}case"pickUpTip":Pg(e.params,t,r);break;case"setTipState":kg(e.params,t,r);break;case"magneticModule/engage":lE(e.params,t,r);break;case"magneticModule/disengage":uE(e.params,t,r);break;case"moveLabware":Lg(e.params,t,r);break;case"waitForTasks":Jg(e.params,t,r);break;case"flexStacker/setStoredLabware":dE(e.params,t,r);break;case"flexStacker/setStoredLabwareItems":fE(e.params,t,r);break;case"flexStacker/prepareShuttle":case"flexStacker/closeLatch":case"flexStacker/openLatch":break;case"flexStacker/empty":cE(e.params,t,r);break;case"flexStacker/fill":mE(e.params,t,r);break;case"flexStacker/fillItems":pE(e.params,t,r);break;case"flexStacker/retrieve":hE(e.params,t,r);break;case"flexStacker/store":_E(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":Og(e.params,t,r);break;case"moveToWell":vg(e.params,t,r);break;case"loadLiquid":CS(e.params,t,r);break;case"dropTipInPlace":iE(e.params,t,r);break;case"blowOutInPlace":sE(e.params,t,r);break;case"configureNozzleLayout":RS(e.params,t,r);break;case"temperatureModule/setTargetTemperature":yE(e.params,t,r);break;case"temperatureModule/deactivate":TE(e.params,t,r);break;case"temperatureModule/waitForTemperature":{const{moduleId:n,celsius:a}=e.params;a!=null&&bE({moduleId:n,celsius:a},t,r);break}case"thermocycler/setTargetBlockTemperature":Ng(e.params,t,r);break;case"thermocycler/setTargetLidTemperature":Cg(e.params,t,r);break;case"thermocycler/waitForBlockTemperature":Dg(e.params);break;case"thermocycler/waitForLidTemperature":Mg(e.params);break;case"thermocycler/deactivateBlock":Ug(e.params,t,r);break;case"thermocycler/deactivateLid":$g(e.params,t,r);break;case"thermocycler/closeLid":qg(e.params,t,r);break;case"thermocycler/openLid":Vg(e.params,t,r);break;case"thermocycler/runProfile":xg(e.params,t,r);break;case"thermocycler/runExtendedProfile":Wy(e.params,t,r);break;case"thermocycler/startRunExtendedProfile":Gy(e.params,t,r);break;case"thermocycler/awaitProfileComplete":Fg(e.params);break;case"heaterShaker/deactivateHeater":tE(e.params,t,r);break;case"heaterShaker/setTargetTemperature":eE(e.params,t,r);break;case"heaterShaker/setAndWaitForShakeSpeed":case"heaterShaker/setShakeSpeed":rE(e.params,t,r);break;case"heaterShaker/deactivateShaker":nE(e.params,t,r);break;case"heaterShaker/openLabwareLatch":aE(e.params,t,r);break;case"heaterShaker/closeLabwareLatch":oE(e.params,t,r);break;case"heaterShaker/waitForTemperature":break;case"absorbanceReader/openLid":cS(e.params,t,r);break;case"absorbanceReader/closeLid":pS(e.params,t,r);break;case"absorbanceReader/initialize":dS(e.params,t,r);break;case"absorbanceReader/read":break;case"vacuumModule/startSetVacuumPressure":Yg(e.params,t,r);break;case"vacuumModule/startSetVacuumPower":Kg(e.params,t,r);break;case"vacuumModule/openVent":Wg(e.params,t,r);break;case"vacuumModule/closeVent":Gg(e.params,t,r);break;case"vacuumModule/stopVacuum":Zg(e.params,t,r);break;case"vacuumModule/startRunProfile":Xg({moduleId:e.params.moduleId,profile:e.params.steps,ventAfter:e.params.ventAfter??!0,taskId:e.params.taskId},t,r);break;default:console.error(`unknown 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-`);return`${l} = ${b}.load_adapter_from_definition(
-${Y(I)},
+${n}`:""}function lb(e,t,r){const n=Object.values(t).filter(o=>o.def.allowedRoles?.includes("adapter")),a=Object.values(n).toSorted((o,s)=>{const i=r[o.id].stack,l=r[s.id].stack;return i.includes(s.id)?1:l.includes(o.id)?-1:0}).map(o=>{const{id:s,def:i,pythonName:l}=o,{parameters:u,namespace:p,version:d}=i,f=r[s].stack[1],m=r[s].stack.find(w=>w in e),h=r[s].stack.some(w=>w===s_),_=f in t?t[f]:null;let y,T=null;if(_!=null)y=_.pythonName,T=null;else if(m!=null){const w=e[m];[y,T]=h?[ge,`location=${w.pythonName}.manifold_dock`]:[w.pythonName,null]}else y=ge,T=`location=${f==="offDeck"?Nn:F(f)}`;if(c.getLabwareDefIsStandard(i)){const w=[`${F(u.loadName)}`,...T?[T]:[],`namespace=${F(p)}`,`version=${d}`].join(`,
+`);return`${l} = ${y}.load_adapter(
+${Q(w)},
+)`}else{const w=[`${Do}[${F(c.getLabwareDefURI(i))}]`,...T?[T]:[]].join(`,
+`);return`${l} = ${y}.load_adapter_from_definition(
+${Q(w)},
 )`}}).join(`
 `);return a?`# Load Adapters:
-${a}`:""}const QS=(e,t,r)=>e.reduce((n,{id:a,labwareDefURI:o,def:s})=>{const{stack:i}=r[a],l=i.length-1,u=i.slice(1,l),p=u.find(T=>t[T]?.def.parameters.loadName==="opentrons_flex_deck_riser"),d=u.every(T=>t[T]?.labwareDefURI===o)||p!=null,f=s.parameters.loadName;if(!d)return n;const m=p!=null?t[p]?.pythonName:K(i),h=i.length-(p!=null?2:1);if(!(m in n))return{...n,[m]:{loadName:f,quantity:h}};const{quantity:_}=n[m],b=WS([_,h])??_;return{...n,[m]:{loadName:f,quantity:b}}},{}),ib=(e,t)=>{const r=Object.values(e).filter(o=>o.def.allowedRoles?.includes("lid")),n=QS(r,e,t),a=Object.entries(n).map(([o,{loadName:s,quantity:i}])=>{const l=Object.values(e).some(({pythonName:h})=>h===o),u=`load_name=${C(s)}`,p=`location=${l?o:C(o)}`,d=`quantity=${i}`,f=[u,p,d].join(`,
-`),m=Y(f);return`lid_stack_${o} = ${we}.load_lid_stack(
+${a}`:""}const tA=(e,t,r)=>e.reduce((n,{id:a,labwareDefURI:o,def:s})=>{const{stack:i}=r[a],l=i.length-1,u=i.slice(1,l),p=u.find(T=>t[T]?.def.parameters.loadName==="opentrons_flex_deck_riser"),d=u.every(T=>t[T]?.labwareDefURI===o)||p!=null,f=s.parameters.loadName;if(!d)return n;const m=p!=null?t[p]?.pythonName:ee(i),h=i.length-(p!=null?2:1);if(!(m in n))return{...n,[m]:{loadName:f,quantity:h}};const{quantity:_}=n[m],y=ZE([_,h])??_;return{...n,[m]:{loadName:f,quantity:y}}},{}),ub=(e,t)=>{const r=Object.values(e).filter(o=>o.def.allowedRoles?.includes("lid")),n=tA(r,e,t),a=Object.entries(n).map(([o,{loadName:s,quantity:i}])=>{const l=Object.values(e).some(({pythonName:h})=>h===o),u=`load_name=${F(s)}`,p=`location=${l?o:F(o)}`,d=`quantity=${i}`,f=[u,p,d].join(`,
+`),m=Q(f);return`lid_stack_${o} = ${ge}.load_lid_stack(
 ${m},
 )`}).join(`
 `);return a?`# Load Lid Stacks:
-${a}`:""},JS=e=>{const{parameters:t,namespace:r,version:n}=e;return[`lid=${C(t.loadName)}`,`lid_namespace=${C(r)}`,`lid_version=${n}`]};function lb(e,t,r,n,a){const o=Object.values(r).filter(l=>!l.def.allowedRoles?.includes("adapter")&&!l.def.allowedRoles?.includes("lid")),s=Object.values(r).filter(l=>l.def.allowedRoles?.includes("lid")),i=Object.values(o).reduce((l,u)=>{const{id:p,def:d,pythonName:f}=u,{metadata:m,parameters:h,namespace:_,version:b}=d,T=Object.values(s).find(q=>n[q.id].stack[1]===p),y=a[p]!=null&&a[p]!==m.displayName,I=n[p].stack.includes(et),w=n[p].stack[1],E=K(n[p].stack),A=Object.entries(e).find(([q,Q])=>Q.slot===E&&Q.moduleState.type===c.FLEX_STACKER_MODULE_TYPE),L=t[w]!=null||E===A?.[1].slot&&!I,S=r[w]!=null;let g,k;if(S&&!I)g=r[w].pythonName;else if(L){const q=A!=null?A?.[0]:w;g=t[q].pythonName}else g=we,k=`location=${w==="offDeck"||I?vn:C(w)}`;const v=y?`label=${C(a[p])}`:void 0;if(c.getLabwareDefIsStandard(d)){const q=[`${C(h.loadName)}`,...k?[k]:[],...v?[v]:[],`namespace=${C(_)}`,`version=${b}`,...T!=null?JS(T.def):[]].join(`,
-`);return[...l,`${f} = ${g}.load_labware(
-${Y(q)},
-)`]}else{const q=[`${Co}[${C(c.getLabwareDefURI(d))}]`,...k?[k]:[],...v?[v]:[]].join(`,
-`);return[...l,`${f} = ${g}.load_labware_from_definition(
-${Y(q)},
+${a}`:""},rA=e=>{const{parameters:t,namespace:r,version:n}=e;return[`lid=${F(t.loadName)}`,`lid_namespace=${F(r)}`,`lid_version=${n}`]};function cb(e,t,r,n,a){const o=Object.values(r).filter(l=>!l.def.allowedRoles?.includes("adapter")&&!l.def.allowedRoles?.includes("lid")),s=Object.values(r).filter(l=>l.def.allowedRoles?.includes("lid")),i=Object.values(o).reduce((l,u)=>{const{id:p,def:d,pythonName:f}=u,{metadata:m,parameters:h,namespace:_,version:y}=d,T=Object.values(s).find(M=>n[M.id].stack[1]===p),b=a[p]!=null&&a[p]!==m.displayName,w=n[p].stack.includes(et),S=n[p].stack[1],g=ee(n[p].stack),L=Object.entries(e).find(([M,G])=>G.slot===g&&G.moduleState.type===c.FLEX_STACKER_MODULE_TYPE),I=t[S]!=null||g===L?.[1].slot&&!w,A=r[S]!=null;let E,O;if(A&&!w)E=r[S].pythonName;else if(I){const M=L!=null?L?.[0]:S;E=t[M].pythonName}else E=ge,O=`location=${S==="offDeck"||w?Nn:F(S)}`;const k=b?`label=${F(a[p])}`:void 0;if(c.getLabwareDefIsStandard(d)){const M=[`${F(h.loadName)}`,...O?[O]:[],...k?[k]:[],`namespace=${F(_)}`,`version=${y}`,...T!=null?rA(T.def):[]].join(`,
+`);return[...l,`${f} = ${E}.load_labware(
+${Q(M)},
+)`]}else{const M=[`${Do}[${F(c.getLabwareDefURI(d))}]`,...O?[O]:[],...k?[k]:[]].join(`,
+`);return[...l,`${f} = ${E}.load_labware_from_definition(
+${Q(M)},
 )`]}},[]).join(`
 `);return i?`# Load Labware:
-${i}`:""}function ub(e,t){const r=Object.values(e).map(n=>{const{name:a,id:o,spec:s,pythonName:i}=n,l=s.channels===96?"":C(t[o].mount),u=c.isFlexPipette(a)?c.getFlexNameConversion(s):a;return`${i} = ${we}.load_instrument(${[C(u),...l?[l]:[]].join(", ")})`}).join(`
+${i}`:""}function pb(e,t){const r=Object.values(e).map(n=>{const{name:a,id:o,spec:s,pythonName:i}=n,l=s.channels===96?"":F(t[o].mount),u=c.isFlexPipette(a)?c.getFlexNameConversion(s):a;return`${i} = ${ge}.load_instrument(${[F(u),...l?[l]:[]].join(", ")})`}).join(`
 `);return r?`# Load Pipettes:
-${r}`:""}function cb(e){const t=Object.values(e).map(r=>{const{pythonName:n,displayColor:a,displayName:o,description:s}=r,i=[`${C(o)}`,...s?[`description=${C(s)}`]:[],`display_color=${C(a)}`].join(`,
-`);return`${n} = ${we}.define_liquid(
-${Y(i)},
+${r}`:""}function db(e){const t=Object.values(e).map(r=>{const{pythonName:n,displayColor:a,displayName:o,description:s}=r,i=[`${F(o)}`,...s?[`description=${F(s)}`]:[],`display_color=${F(a)}`].join(`,
+`);return`${n} = ${ge}.define_liquid(
+${Q(i)},
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 `);return t?`# Define Liquids:
-${t}`:""}function pb(e,t,r){const n=Object.entries(e).reduce((o,[s,i])=>{const l=r[s].pythonName;return Object.entries(i).forEach(([u,p])=>{Object.entries(p).forEach(([d,f])=>{const m=t[d].pythonName,h=`${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(`,
+${t}`:""}function fb(e,t,r){const n=Object.entries(e).reduce((o,[s,i])=>{const l=r[s].pythonName;return Object.entries(i).forEach(([u,p])=>{Object.entries(p).forEach(([d,f])=>{const m=t[d].pythonName,h=`${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=>F(h)),d=Mo(u,8).map(h=>Ha+h.join(", ")).join(`,
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 ${d}
 `}],
 liquid=${s},
 volume=${i},
 `].join();return`${o}.load_liquid(
-${Y(m)})`}).join(`
+${Q(m)})`}).join(`
 `);return a?`# Load Liquids:
-${a}`:""}function db(e){const t=c.getAllLiquidClassDefs(),r=e.map(n=>n==null?"":`${Xa(n,!0)} = ${we}.get_liquid_class(${C(t[n].liquidClassName)})`).join(`
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-${t}`:""}function mb(e){const t=Object.values(e)?.map(r=>`${r.pythonName} = ${we}.load_waste_chute()`);return t.length>0?`# Load Waste Chute:
-${t}`:""}const eA=e=>e?`
+${t}`:""}function _b(e){const t=Object.values(e)?.map(r=>`${r.pythonName} = ${ge}.load_waste_chute()`);return t.length>0?`# Load Waste Chute:
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 `+e.split(/\r\n|\r|\n/).map(t=>`# ${t}`).join(`
-`):"";function hb(e){return`# PROTOCOL STEPS
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-`+e.timeline.map(t=>{const{stepInfo:r}=t,n=r?.description;return`# Step ${r?.stepNumber}: ${r?.name}${eA(n)}
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-`)}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(`
+`)}function aA(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=[ib(i,m),lb(i,l,h),ub(l,h),cb(m,i,l,h,a),pb(u,_),...o===c.FLEX_ROBOT_TYPE?[hb(f),_b(d)]:[],db(p),fb(n,p,l),mb(s),bb(i,l,h,m,r),yb(r)].filter(b=>b).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(`,
+`)||"pass";return`def run(${ge}: protocol_api.ProtocolContext) -> None:
+${Q(T)}`}function oA(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`${Do} = json.loads("""${JSON.stringify(r)}""")`}else return""}const Wo=e=>{switch(e){case"perDest":return"per destination";case"perSource":return"per source";default:return e}},bb=(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(([_,y])=>y.stack.includes(l)&&y.stack.includes(et)),h=[...Object.entries(r),...f.flatMap(_=>Object.entries(_))].filter(([_,y])=>ee(y.stack)===d&&!y.stack.includes(et));if(m.length===0){if(h.length===0)return"";const _=h.find(([b])=>t[b].def.allowedRoles?.includes("lid")),y=h.find(([b])=>!t[b].def.allowedRoles?.includes("lid"));if(y==null)return"";const T=[`load_name=${F(t[y[0]].def.parameters.loadName)}`,`namespace=${F(t[y[0]].def.namespace)}`,`version=${t[y[0]].def.version}`,"count=0",..._!=null?[`lid=${F(t[_[0]].def.parameters.loadName)}`]:[]].join(`,
 `);return`${p}.set_stored_labware(
-${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=[${_.length<4?_.join(", "):`
+${Q(T)}
+)`}else{const _=Object.values(m).filter(S=>!t[S[0]]?.def.allowedRoles?.includes("lid")).map(S=>t[S[0]].pythonName),T=Mo(_,4).map(S=>Ha+S.join(", ")).join(`,
+`),w=`labware=[${_.length<4?_.join(", "):`
 ${T}
 `}],
 `;return`${p}.set_stored_labware_items(
-${Y(I)})`}}}).filter(Boolean);return s.length>0?`# Set Stored Labware:
+${Q(w)})`}}}).filter(Boolean);return s.length>0?`# Set Stored Labware:
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-`).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)},
+`).trimStart()}`:""},sA={boolean:"add_bool",int:"add_int",float:"add_float",string:"add_str",csv:"add_csv_file"};function iA(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])=>`${s}=${sr(i)}`).join(`,
+`);return`parameters.${sA[r.type]}(
+${Q(o)},
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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',
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null},hA=(e,t)=>Object.values(t).find(r=>r.type===c.THERMOCYCLER_MODULE_TYPE)?Ib([Oh,uA],[e[0],e[1]])&&e[0].x<=Oh.z:!1,_A=(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}},_t=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,y=p[n];if(y==null)return{isSafe:!0};const{spec:T}=y,{channels:b}=T,g=T?.displayCategory==="FLEX"?c.FLEX_ROBOT_TYPE:c.OT2_ROBOT_TYPE,L=c.getDeckDefFromRobotType(g);if(d[a]==null||s==null||b===1)return{isSafe:!0};const I=u?!0:_.pipettes[n]?.hasTip??!1,A=u??_.pipettes[n]?.tiprackURI,E=A!=null?d[A]:null,O=E!=null?E.def.parameters.tipLength:0,k=Object.values(f).map(N=>N.location),D=I?O??0:0,M=ee(h[a].stack),G=h[a].stack.some(N=>m[N]?.type===c.THERMOCYCLER_MODULE_TYPE),Y=c.getDeckDefFromRobotType(c.FLEX_ROBOT_TYPE),ae=(G?c.getPositionFromSlotId(c.B1_ADDRESSABLE_AREA,Y):c.getPositionFromSlotId(M,L))??[0,0,0],fe=G?Y.locations.addressableAreas.find(N=>N.id===c.THERMOCYCLER_MODULE_V2)?.offsetFromCutoutFixture??[0,0,0]:[0,0,0],J={x:fe[0]+ae[0],y:fe[1]+ae[1],z:fe[2]+ae[2]},{def:Re}=d[a],Ve=Sb({wellTargetName:s,primaryNozzle:i,nozzleConfiguration:l,specs:T,labwareDef:Re}),Me={x:o.x+Ve.x+J.x,y:o.y+Ve.y+J.y,z:(o.z??0)+(J.z??0)},je=_A(d[a],s,Me,I),ie=E!=null?yA({pipetteSpecs:T,tiprackUri:E.labwareDefURI,nozzles:l}):0,ke=d[a].def,Be=pA(y,D,je,ke,i,l,ie);if(!TA({channels:b,boundingBox:Be,robotType:g}))return{isSafe:!1,reason:{type:"outsidePipetteExtents"}};const K=(g===c.OT2_ROBOT_TYPE?c.getOt2SurroundingSlots(M):c.getFlexSurroundingSlots(M,k)).map(N=>{const B=c.getAddressableAreaFromSlotId(N,L),q=c.getPositionFromSlotId(N,L);return{addressableArea:B,position:q}});if(hA(Be,m))return{isSafe:!1,reason:{type:"thermocyclerLidCollision"}};const j=mA(Be,K,t,r,g);return j!=null?{isSafe:!1,reason:{type:"adjacentAdressableAreaCollision",addressableAreaCausingCollision:j.addressableAreaCausingCollision}}:{isSafe:!0}},Ip=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]!==_e};if(n===8){const u=r!==c.A1_NOZZLE,p=fc(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]===_e||i.includes(h)),isComplete:t[o]!==_e}}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(y=>t[y]===_e||i.includes(y)),isComplete:_.every(y=>t[y]!==_e&&!i.includes(y))}}return{isSafe:!0,isComplete:f.every(m=>t[m]!==_e)}}if(a===c.ALL)return{isSafe:!0,isComplete:Object.keys(s.wells).every(u=>t[u]!==_e)};if(a===c.COLUMN){const u=r===c.A12_NOZZLE,p=fc(o),d=l[p],f=u?[...l].reverse():l,m=f.indexOf(d);return{isSafe:f.slice(m+1).flat().every(h=>t[h]===_e||i.includes(h)),isComplete:f[m].every(h=>t[h]!==_e)}}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]===_e||i.includes(m)),isComplete:d[f].every(m=>t[m]!==_e)}}if(a===c.SINGLE){const u=Ln(r??To({nozzles:a,channels:n})),p=wp(r??To({nozzles:a,channels:n})),d=u==="H",m=p==="12"?[...l].reverse():l,h=m.findIndex(_=>_.some(y=>y===o));return{isSafe:m.slice(h).every(_=>{const 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i=Math.max(...Object.keys(s).map(l=>Number(l.slice(1))));return s[`v${i}`]?.[r]??s[`v${i}`]?.default??0},bA=(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"},TA=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:y,y:T}=m;if(t===96){if(y<l)return!1;const b=p+u;if(h>b)return!1}if(t!==1){if(_<s)return!1;const b=d+i;if(T>b)return!1}return!0},wb=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)},Sb=e=>{const t=IA(e),r=wA(e);return{x:t,y:r}},IA=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=wp(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*cA;const p=wb(n);return i?(l-1)*p/2*u:0},wA=e=>{const{wellTargetName:t,primaryNozzle:r,nozzleConfiguration:n,specs:a,labwareDef:o}=e,{channels:s}=a;if(s===1)return 0;const i=wb(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=Ln(r)==="H"?-1:1;return 7*i/2*d};function gb(e){const t=e.length===1?e[0]:null;return t!=null&&"steps"in t?{numRepetitions:t.repetitions,repeatingProfileSteps:t.steps}:{numRepetitions:1,repeatingProfileSteps:Sp(e)}}function Sp(e){return e.flatMap(t=>"steps"in t?fy(t.steps,t.repetitions):t)}const SA=e=>{switch(e.commandCreatorFnName){case"consolidate":return P(Db,e);case"delay":return P(Te,e);case"waitForModuleTask":return P(zb,e);case"distribute":return P(Mb,e);case"transfer":return P(qb,e);case"mix":return P(Cb,e);case"moveLabware":return P(G_,e);case"captureImage":return P(U_,e);case"engageMagnet":return P(x_,e);case"disengageMagnet":return P(B_,e);case"setTemperature":return P(Hc,e);case"deactivateTemperature":return P(V_,e);case"waitForTemperature":return P(Yc,e);case"thermocyclerProfile":return P(Ub,e);case"thermocyclerState":return P($b,e);case"heaterShaker":return P(Fb,e);case"comment":return P($_,e);case"absorbanceReaderOpenLid":return P(M_,e);case"absorbanceReaderCloseLid":return P(No,e);case"absorbanceReaderRead":return P(Ob,e);case"absorbanceReaderInitialize":return P(Lb,e);case"flexStackerEmpty":return P(H_,{...e,strategy:"manualWithPause"});case"flexStackerFillItems":return P(z_,e);case"flexStackerRetrieve":return P(j_,e);case"flexStackerStore":return P(W_,{...e,strategy:"automatic"});case"vacuumCloseVent":return P(xa,e);case"vacuumOpenVent":return P(K_,e);case"vacuumSetPumpPower":return P(jc,e);case"vacuumSetPumpPressure":return P(Wc,e);case"vacuumStartRunProfile":return P(Gc,e);case"vacuumStopPump":return P(Q_,e);case"vacuumCloseVentSetPumpPressure":return P(Bb,e);case"vacuumCloseVentSetPumpPower":return P(Vb,e);case"vacuumCloseVentStartProfile":return P(xb,e);case"airGapInPlace":return P(vt,e);case"aspirate":return P(vt,e);case"aspirateInPlace":return P(Ba,e);case"aspirateWhileTracking":return P(kw,e);case"blowOutInPlace":return P(Bn,e);case"blowout":return P(Vc,e);case"configureForVolume":return P(kn,e);case"configureNozzleLayout":return P(q_,e);case"dispense":return P(Bc,e);case"dispenseInPlace":return P(Je,e);case"dispenseWhileTracking":return P(Nw,e);case"dropTip":return P(Yr,e);case"dropTipInPlace":return P(Co,e);case"home":return P(Cw,e);case"moveRelative":return P(Dw,e);case"moveToAddressableArea":return P(qe,e);case"moveToAddressableAreaForDropTip":return P(xc,e);case"moveToCoordinates":return P(Mw,e);case"moveToWell":return P(z,e);case"pickUpTip":return P(mo,e);case"prepareToAspirate":return P(Pt,e);case"touchTip":return P(At,e);case"tryLiquidProbe":return P(Fw,e);case"heaterShaker/closeLabwareLatch":return P(J_,e);case"heaterShaker/openLabwareLatch":return P(ey,e);case"heaterShaker/setAndWaitForShakeSpeed":return P(ty,e);case"heaterShaker/deactivateHeater":return P(tc,e);case"heaterShaker/deactivateShaker":return P(rc,e);case"thermocycler/closeLid":return P(Kc,e);case"thermocycler/openLid":return P(ay,e);case"thermocycler/deactivateBlock":return P(ry,e);case"thermocycler/deactivateLid":return P(ny,e);case"thermocycler/setTargetBlockTemperature":return P(oy,e);case"thermocycler/setTargetLidTemperature":return P(Zc,e);case"thermocycler/startRunExtendedProfile":return P(Y_,e)}},$=QT;function Eb(e){return Object.keys(e).sort((r,n)=>{const a=ee(e[r].stack),o=ee(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 Ab(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=E=>u[E]===Fa,d=c.orderWells(l.ordering,"t2b","l2r"),f=c.orderWells(l.ordering,"b2t","l2r"),m=E=>E.find(p)??null,h=E=>[...E].reverse().find(p)??null,_=E=>E.find(O=>O.every(p))??null,y=E=>[...E].reverse().find(O=>O.every(p))??null,T=i===8&&o===c.SINGLE,b=T&&s===c.H1_NOZZLE,w=T&&s===c.A1_NOZZLE,S=i===96&&o===c.SINGLE,g=S&&s===c.H12_NOZZLE,L=S&&s===c.A12_NOZZLE,I=S&&s===c.H1_NOZZLE,A=S&&s===c.A1_NOZZLE;if(i===1||b||g)return m(d);if(w)return m(f);if(o===c.PARTIAL_COLUMN){const E=m(d);if(!E)return null;const O=d.indexOf(E);return d[O]??null}if(o===c.ALL&&i===8)return _(l.ordering)?.[0]??null;if(A)return h(d);if(L)return m(f);if(I)return h(f);if(o===c.COLUMN){const E=l.ordering;return(s===c.A1_NOZZLE?y(E):_(E))?.[0]??null}if(o===c.ROW){const E=l.ordering,O=E[0].map((D,M)=>E.map(G=>G[M]));return(s===c.A1_NOZZLE?y(O):_(O))?.[0]??null}return o===c.ALL&&i===96?d.every(p)?d[0]:null:(console.assert(!1,`Unhandled _getNextTip case for pipette ${t}`),null)}function to(e,t,r,n,a,o){const s=r.pipetteEntities[e];if(!s)throw new Error(`cannot getNextTiprack, no pipette entity for pipette "${e}"`);const i=[],l=Eb(n.labware).filter(h=>{console.assert(r.labwareEntities[h]?.labwareDefURI!=null,`cannot getNextTiprack, no labware entity for "${h}"`);const _=ee(n.labware[h].stack),y=Ly(_),T=Ay({labwareId:h,labwareRobotState:n.labware,labwareEntities:r.labwareEntities});if(y&&T&&c.getIsTiprack(r.labwareEntities[h].def))return i.push(h),!1;const b=r.labwareEntities[h].labwareDefURI;return y&&b===t});let u=l;const p=s.spec.channels===96,d=[];p&&(u=u.filter(h=>{const _=n.labware[h].stack[1],y=r.labwareEntities[_],T=y?.def.parameters.loadName==="opentrons_flex_96_tiprack_adapter"&&c.getLabwareDefIsStandard(y?.def),b=o===c.ALL?T:!T;return b||d.push(h),b}));let f=null,m=null;for(const h of u){const _=Ab({pipetteId:e,tiprackId:h,nozzles:o,invariantContext:r,robotState:n,primaryNozzle:a}),{isSafe:y}=_!=null?_t({robotState:n,invariantContext:r,pipetteId:e,labwareId:h,wellTargetName:_,primaryNozzle:a,nozzleConfiguration:o}):{isSafe:!1},{isSafe:T,isComplete:b=!1}=_!=null?Ip({tipState:n.tipState.tipracks[h],primaryNozzle:a,channels:s.spec.channels,nozzleConfiguration:o,wellName:_,tiprackDef:r.labwareEntities[h].def}):{isSafe:!1};if(_&&y&&T&&b){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 Go(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}, ${i}`),NaN):DT([i,a])??NaN}function Rt(e,t){return t in e.modules||console.warn(`getModuleState expected module id "${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},Xn=(e,t)=>{const r=e.modules[t]?.moduleState;return r&&r.type===c.ABSORBANCE_READER_TYPE?r:null},yt=(e,t)=>{const r=e.modules[t]?.moduleState;return r&&r.type===c.FLEX_STACKER_MODULE_TYPE?r:null},ct=(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:o,referenceWavelength:s}=e,i=Xn(r,n),l=[];if(i==null&&l.push(pe()),l.length>0)return{errors:l};const u=[P(No,{moduleId:n}),P(D_,{moduleId:n,measureMode:a,sampleWavelengths:o,referenceWavelength:s??void 0})];return de(u,t,r)},Ob=(e,t,r)=>{const n=[],a=Xn(r,e.moduleId);if((a==null||e.moduleId==null)&&n.push(pe()),a?.initialization==null&&n.push(sT()),n.length>0)return{errors:n};const{moduleId:o,fileName:s}=e,i=[P(No,{moduleId:o}),P(F_,{moduleId:o,fileName:s})];return de(i,t,r)},gA=(e,t,r)=>{const{pipetteId:n,trashId:a,flowRate:o,volume:s}=e,i=[P(qe,{pipetteId:n,fixtureId:a,offset:Lt}),R(Pt,{pipetteId:n}),P(vt,{pipetteId:n,volume:s,flowRate:o})];return de(i,t,r)},EA=(e,t,r)=>{const{pipetteId:n,volume:a,flowRate:o,wasteChuteId:s}=e,i=[P(qe,{pipetteId:n,fixtureId:s,offset:Lt}),R(Pt,{pipetteId:n}),P(vt,{pipetteId:n,flowRate:o,volume:a})];return de(i,t,r)},AA=(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(Pt,{pipetteId:s})],d=()=>({commands:[],python:`${u}.air_gap(${[`volume=${i}`,`height=${Xu}`,`flow_rate=${o}`].join(", ")})`}),f=[R(z,{pipetteId:s,labwareId:n,wellName:a,wellLocation:{origin:"top",offset:{z:Xu,x:0,y:0}}}),...p,R(vt,{pipetteId:s,volume:i,flowRate:o}),d];return de(f,t,r)},vb=(e,t,r)=>{const{pipetteId:n,trashId:a,flowRate:o}=e,{pipetteEntities:s,trashBinEntities:i}=t,l=s[n].pythonName,u=i[a].pythonName,p=()=>({commands:[],python:`${l}.flow_rate.blow_out = ${o}
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-)`}},Ur=e=>{const{pipette:t,volume:r,times:n,aspirateFlowRateUlSec:a,dispenseFlowRateUlSec:o,aspirateDelaySeconds:s=0,dispenseDelaySeconds:i=0,finalPushOut:l,invariantContext:u,liquidClass:p,tiprack:d,moveToWellParams:f,generatePython:m}=e,h=LA({invariantContext:u,pipette:t,volume:r,times:n,aspirateFlowRateUlSec:a,dispenseFlowRateUlSec:o,aspirateDelaySeconds:s,dispenseDelaySeconds:i,finalPushOut:l,positionArgs:f!=null?{labware:f.labwareId,well:f.wellName,wellOrigin:f.wellLocation?.origin??c.WELL_ORIGIN_BOTTOM,xOffset:f.wellLocation?.offset?.x??0,yOffset:f.wellLocation?.offset?.y??0,zOffset:f.wellLocation?.offset?.z??0}:void 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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0}),_=u.pipetteEntities[t].spec,y=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,w=f!=null?[R(z,{...f,wellLocation:{...f.wellLocation}})]:[];for(let S=0;S<n;S++)w.push(R(Ba,{pipetteId:t,volume:r,flowRate:a,...y>0?{correctionVolume:y}:{}}),...kh(s),R(Je,{pipetteId:t,volume:r,flowRate:o,...S<n-1?{pushOut:0}:l==null?{}:{pushOut:l},...T>0?{correctionVolume:T}:{}}),...kh(i));return[...w,...m?[h]:[]]},Cb=(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:y,xOffset:T,yOffset:b,zOffset:w,finalPushOut:S,nozzles:g,primaryNozzle:L,tipsSelected:I,tiprackSelected:A,tipTracking:E}=e,O=e.aspirateDelaySeconds??0,k=e.dispenseDelaySeconds??0,D=t.pipetteEntities[a]?.spec.channels!==1;if(r.pipettes[a]==null||t.pipetteEntities[a]==null)return{errors:[mt({pipette:a})]};if(r.labware[o]==null)return{errors:[ht({actionName:"mix",labware:o})]};const M=ee(r.labware[o]?.stack);if(Object.keys(t.wasteChuteEntities).length>0&&M===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA)return{errors:[ka()]};const Y=[...Object.keys(t.trashBinEntities),...Object.keys(t.wasteChuteEntities)],ae=Y.length>0?Y[0]:null,fe=Object.values(t.labwareEntities).find(({labwareDefURI:K})=>K===h),J=fe!=null&&c.getIsTiprack(fe.def),Re=t.wasteChuteEntities[h]!=null,Ve=t.trashBinEntities[h]!=null,Me=r.pipettes[a]?.tipWell!=null;if(h==null||J&&ae==null&&u!=="never"&&Me||!J&&!Re&&!Ve)return{errors:[Mn()]};if(D){const K=_t({robotState:r,invariantContext:t,pipetteId:a,labwareId:o,wellLocationOffset:{x:T,y:b},wellTargetName:s[0],primaryNozzle:L,nozzleConfiguration:g});if(!K.isSafe)return{errors:[xt({unsafePipetteMovementReason:K.reason})]};const j=_t({robotState:r,invariantContext:t,pipetteId:a,labwareId:o,wellLocationOffset:{x:T,y:b},wellTargetName:s[0],primaryNozzle:L,nozzleConfiguration:g});if(!j.isSafe)return{errors:[xt({unsafePipetteMovementReason:j.reason})]}}const je=c.LOW_VOLUME_PIPETTES.includes(t.pipetteEntities[a].name),ie=je?[P(kn,{pipetteId:a,volume:i})]:[],ke=t.pipetteEntities[a].spec,Ae=E===Ot&&A!=null&&I!=null&&I.length>0?eo({wellSets:I,nozzles:g,channels:ke.channels,primaryNozzle:L}):null,oe=Rn(s,(K,j)=>{let N=[];if(u==="always"||u==="once"&&j===0){const le=Ae?.shift();N=[P(ro,{pipette:a,primaryNozzle:L,dropTipLocation:J&&ae!=null?ae:h,tipRack:_,nozzles:g,...E===Ot&&le!=null&&A!=null?{tipSelectionArgs:{tipRackId:A,tipWell:le}}:{},isFromMixCommand:!0})]}const B=je||e.blowoutLocation!=null&&j>0?[P(Pt,{pipetteId:a})]:[],q=e.touchTip?[P(At,{pipetteId:a,labwareId:o,wellName:K,zOffsetFromTop:e.touchTipMmFromTop})]:[],re=my({pipette:e.pipette,sourceLabwareId:e.labware,sourceWell:K,destLabwareId:e.labware,destWell:K,blowoutLocation:e.blowoutLocation,flowRate:f,offsetFromTopMm:m,invariantContext:t}),W=[...Object.keys(t.wasteChuteEntities),...Object.keys(t.trashBinEntities)].some(le=>le===e.blowoutLocation)?[...q,...re]:[...re,...q],x=J&&(j===s.length-1||u==="always")?[P(Yr,{pipette:a,dropTipLocation:_,isReturnTip:J})]:[],H=$r({pipette:a,volume:i,times:l,aspirateFlowRateUlSec:p,dispenseFlowRateUlSec:d,invariantContext:t,liquidClass:null,tiprack:_,finalPushOut:S,aspirateDelaySeconds:O,dispenseDelaySeconds:k,moveToWellParams:{pipetteId:a,labwareId:o,wellName:K,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[y],offset:{x:T,y:b,z:w}}},generatePython:!0});return[...N,...ie,...B,...H,...W,...x]});return de(oe,t,r)},Db=(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:y,aspirateSubmergeZOffset:T,aspirateXOffset:b,aspirateYOffset:w,aspirateZOffset:S,blowoutFlowRateUlSec:g,blowoutLocation:L,changeTip:I,destLabware:A,destWell:E,dispenseDelay:O,dispenseFlowRateUlSec:k,dispensePositionReference:D,dispenseRetractPositionReference:M,dispenseRetractXOffset:G,dispenseRetractYOffset:Y,dispenseRetractZOffset:ae,dispenseSubmergeDelay:fe,dispenseSubmergePositionReference:J,dispenseSubmergeSpeed:Re,dispenseSubmergeXOffset:Ve,dispenseSubmergeYOffset:Me,dispenseSubmergeZOffset:je,dispenseXOffset:ie,dispenseYOffset:ke,dispenseZOffset:Be,dropTipLocation:Ae,liquidClass:oe,mixInDestination:K,nozzles:j,pipette:N,primaryNozzle:B,pushOut:q,sourceLabware:re,sourceWells:V,tipRack:Z,tipTracking:W,tiprackSelected:x,tipsSelected:H,touchTipAfterAspirate:le,touchTipAfterAspirateMmFromEdge:xe,touchTipAfterAspirateOffsetMmFromTop:rt,touchTipAfterAspirateSpeed:We,touchTipAfterDispense:ye,touchTipAfterDispenseMmFromEdge:nt,touchTipAfterDispenseOffsetMmFromTop:bt,touchTipAfterDispenseSpeed:kt,stepNumber:Tt,volume:Ne}=e,{pipetteEntities:at,labwareEntities:Ee,trashBinEntities:Ce,wasteChuteEntities:Fe}=t,ue="consolidate",ce=[],Nt=r.pipettes[N],Ke=at[N]?.spec.channels!==1,te=e.aspirateAirGapVolume??0,Ie=e.dispenseAirGapVolume??0;Nt==null&&ce.push(mt({pipette:N})),(A==null||Ee[A]==null&&Ce[A]==null&&Fe[A]==null)&&ce.push(Bh());const Ir=ee(r.labware[A]?.stack),ot=ee(r.labware[re]?.stack);Object.keys(Fe).length>0&&(Ir===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA||ot===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA)&&ce.push(ka());const we=[...Object.keys(t.trashBinEntities),...Object.keys(t.wasteChuteEntities)],st=we.length>0?we[0]:null,Qr=Object.values(t.labwareEntities).find(({labwareDefURI:Se})=>Se===Ae),Ct=Qr!=null&&c.getIsTiprack(Qr.def),no=t.wasteChuteEntities[Ae]!=null,Jr=t.trashBinEntities[Ae]!=null,ur=r.tipState.pipettes[N]?.hasTip;(Ae==null||Ct&&st==null&&I!=="never"&&ur||!Ct&&!no&&!Jr)&&ce.push(Mn());let Ze,se;if(I==="never"){const Se=r.tipState.pipettes[N]?.tiprackURI;Ze=t.labwareEntities[Se??""],se=Ze?.labwareDefURI}else Ze=Object.values(Ee).find(({labwareDefURI:Se})=>Se===Z),se=Z;Ze==null&&(I==="never"?ce.push(jt({actionName:ue,pipette:N})):ce.push(ht({actionName:ue,labware:se})));const{def:Dt=null}=Ze??{},{spec:Le,name:pt,pythonName:ne}=at[N],X=c.getAllLiquidClassDefs()[oe===c.NONE_LIQUID_CLASS_NAME||oe==null?c.WATER_LIQUID_CLASS_NAME:oe].byPipette?.find(({pipetteModel:Se})=>Se===c.getFlexNameConversion(Le))?.byTipType.find(({tiprack:Se})=>Se===se)??null,{aspirate:dt}=X??{},{multiWellHandling:be}=tp({pipetteSpecs:Le,tiprackDefinition:Dt,volume:Ne,path:"multiAspirate",numAspirateWells:V.length,numDispenseWells:1,aspirateAirGapByVolume:dt?.retract.airGapByVolume??[],conditioningByVolume:null,disposalByVolume:null}),{numWellsToFitInTip:it}=be;if((!be.isSupported||it==null||it===1)&&ce.push(bT()),Ke&&j!==c.ALL){const Se=_t({robotState:r,invariantContext:t,pipetteId:N,labwareId:re,wellLocationOffset:{x:b,y:w},primaryNozzle:B,nozzleConfiguration:j});Se.isSafe||ce.push(xt({unsafePipetteMovementReason:Se.reason}));const me=_t({robotState:r,invariantContext:t,pipetteId:N,labwareId:A,wellLocationOffset:{x:ie,y:ke},primaryNozzle:B,nozzleConfiguration:j});me.isSafe||ce.push(xt({unsafePipetteMovementReason:me.reason}))}const Gt=E!=null?Ee[re]?.def.wells[E]?.depth:null,Mt=c.getMmFromBottom(Be,D,Gt),en=c.getMmFromBottom(je,J,Gt),cr=c.getMmFromBottom(ae,M,Gt);if(Mt!=null&&en!=null&&Mt>en&&ce.push(_T()),Mt!=null&&cr!=null&&Mt>cr&&ce.push(yT()),ce.length>0)return{errors:ce};const{tipracks:wr}=to(N,se,t,r,B,j),pr=c.getByVolumeValue({liquidClass:oe,pipetteSpecs:Le,tiprackDefUri:se,targetVolume:Ne,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Oe=Ce[A]?.pythonName??Fe[A]?.pythonName,Ft=Ce[Ae]?.pythonName??Fe[Ae]?.pythonName,Sr=L==null?null:Ce[L]?.pythonName??Fe[L]?.pythonName,gr=Ee[re].pythonName,tn=Ee[A]?.pythonName,Er=j===c.PARTIAL_COLUMN?ar({labwareDef:Ee[re].def,wells:V,primaryNozzle:B}):V,rn=(j===c.PARTIAL_COLUMN&&E!=null&&Ee[A]!=null?ar({labwareDef:Ee[A].def,wells:[E],primaryNozzle:B}):[E])[0],nn=Er.map(Se=>`${gr}[${F(Se)}]`).join(", "),an=rn!=null&&tn!=null?`${tn}[${F(rn)}]`:null,on=[`name=${F(`${e.commandCreatorFnName}_step_${Tt}`)}`,...oe!=null?[`base_liquid_class=${Ja(oe,!0)}`]:[],`properties=${zo({args:e,pipetteName:c.isFlexPipette(pt)?c.getFlexNameConversion(Le):pt,tiprackUri:se,liquidClassValuesForTip:X})}`],Jn=`${ge}.define_liquid_class(
+${Q(on.join(`,
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-)`,Wt=z===Lt&&U!=null&&j!=null&&j.length>0?Qa({wellSets:j,nozzles:N,channels:Le.channels,primaryNozzle:$}):null,on=Wt!=null&&Ze!=null&&N===c.PARTIAL_COLUMN?nr({labwareDef:Ze?.def,wells:Wt,primaryNozzle:$}):Wt,sn=U!=null?Se[U]?.pythonName:null,ln=on?.map(ge=>`${sn}[${C(ge)}]`).join(", "),Qn=[`volume=${Ne}`,`source=[${tn}]`,`dest=${rn!=null?`[${rn}]`:ve}`,`new_tip=${C(Go(L))}`,...Nt?["return_tip=True",...Er!=null?[`trash_location=${Er}`]:[]]:[`trash_location=${Mt}`,"keep_last_tip=True"],...Le.channels>1?["group_wells=False"]:[],...Ir.filteredSortedTiprackIds.length>0?[jo({labwareEntities:Se,tiprackIds:Ir.filteredSortedTiprackIds})]:[],`liquid_class=${Xn}`,...Wt!=null&&sn!=null?[`tips=[${ln}]`]:[]],Jn=()=>({commands:[],python:`${ee}.consolidate_with_liquid_class(
-${Y(Qn.join(`,
+)`,Yt=W===Ot&&x!=null&&H!=null&&H.length>0?eo({wellSets:H,nozzles:j,channels:Le.channels,primaryNozzle:B}):null,ln=Yt!=null&&Ze!=null&&j===c.PARTIAL_COLUMN?ar({labwareDef:Ze?.def,wells:Yt,primaryNozzle:B}):Yt,un=x!=null?Ee[x]?.pythonName:null,cn=ln?.map(Se=>`${un}[${F(Se)}]`).join(", "),ea=[`volume=${Ne}`,`source=[${nn}]`,`dest=${an!=null?`[${an}]`:Oe}`,`new_tip=${F(Wo(I))}`,...Ct?["return_tip=True",...Sr!=null?[`trash_location=${Sr}`]:[]]:[`trash_location=${Ft}`,"keep_last_tip=True"],...Le.channels>1?["group_wells=False"]:[],...wr.filteredSortedTiprackIds.length>0?[jo({labwareEntities:Ee,tiprackIds:wr.filteredSortedTiprackIds})]:[],`liquid_class=${Jn}`,...Yt!=null&&un!=null?[`tips=[${cn}]`]:[]],ta=()=>({commands:[],python:`${ne}.consolidate_with_liquid_class(
+${Q(ea.join(`,
 `))},
-)`}),un=Rb(V,it),Yt=c.LOW_VOLUME_PIPETTES.includes(ct)?[R(Rn,{pipetteId:P,volume:Ne})]:[],ea={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[Te],offset:{x:Be,y:Me,z:ae}},Ft={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[q],offset:{x:Q,y:fe,z:_e}},pr=n!=null?[R(be,{seconds:n.seconds})]:[],ta=c.getByVolumeValue({liquidClass:J,pipetteSpecs:Le,tiprackDefUri:te,targetVolume:Ie,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Sr=k!=null?[R(be,{seconds:k.seconds})]:[],ra=c.getByVolumeValue({liquidClass:J,pipetteSpecs:Le,tiprackDefUri:te,targetVolume:X,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??a,cn=c.getByVolumeValue({liquidClass:J,pipetteSpecs:Le,tiprackDefUri:te,targetVolume:X,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??v,na=c.getByVolumeValue({liquidClass:J,pipetteSpecs:Le,tiprackDefUri:te,targetVolume:Ie,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??a,pn=c.getByVolumeValue({liquidClass:J,pipetteSpecs:Le,tiprackDefUri:te,targetVolume:Ie,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??v,Ar=$r({retractZOffset:_e,retractPositionReference:q,labwareId:S,labwareEntities:Se,well:g}),Lr=!Ar&&g!=null?[R(x,{pipetteId:P,labwareId:S,wellName:g,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})]:[],ro=[...On(un,(ge,ce)=>{const Tt=(Pe,Xt=!0)=>Ie>0&&!(L==="never"&&qe&&Pe)?[...Xt?Lr:[],R(Rt,{pipetteId:P}),R(Ot,{pipetteId:P,volume:Ie,flowRate:na,...ta>0?{correctionVolume:ta}:{}}),...pr]:[],Ut=Pe=>g!=null&&he?[R(St,{pipetteId:P,labwareId:S,wellName:g,...nt!=null?{mmFromEdge:nt}:{},zOffsetFromTop:yt,...kt!=null?{speed:kt}:{}}),...Tt(Pe).length>0&&Ar?[R(x,{pipetteId:P,labwareId:S,wellName:g,wellLocation:Ft})]:[]]:[],ke=ce===0,qe=ce===un.length-1,oa=ge.length,pe=Ne*oa,Xe=L==="always"||L==="once"&&ke;let dr=[];if(Xe){const Pe=Wt?.shift();dr=[O(eo,{pipette:P,primaryNozzle:$,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(
-${Y(f.join(`,
+)`}),pn=Rb(V,it),Kt=c.LOW_VOLUME_PIPETTES.includes(pt)?[R(kn,{pipetteId:N,volume:Ne})]:[],ra={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[J],offset:{x:Ve,y:Me,z:je}},Ut={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[M],offset:{x:G,y:Y,z:ae}},dr=n!=null?[R(Te,{seconds:n.seconds})]:[],na=c.getByVolumeValue({liquidClass:oe,pipetteSpecs:Le,tiprackDefUri:se,targetVolume:Ie,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Ar=O!=null?[R(Te,{seconds:O.seconds})]:[],aa=c.getByVolumeValue({liquidClass:oe,pipetteSpecs:Le,tiprackDefUri:se,targetVolume:te,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??a,dn=c.getByVolumeValue({liquidClass:oe,pipetteSpecs:Le,tiprackDefUri:se,targetVolume:te,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??k,oa=c.getByVolumeValue({liquidClass:oe,pipetteSpecs:Le,tiprackDefUri:se,targetVolume:Ie,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??a,fn=c.getByVolumeValue({liquidClass:oe,pipetteSpecs:Le,tiprackDefUri:se,targetVolume:Ie,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??k,Lr=xr({retractZOffset:ae,retractPositionReference:M,labwareId:A,labwareEntities:Ee,well:E}),Or=!Lr&&E!=null?[R(z,{pipetteId:N,labwareId:A,wellName:E,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})]:[],ao=[...Rn(pn,(Se,me)=>{const It=(Pe,Qt=!0)=>Ie>0&&!(I==="never"&&Ue&&Pe)?[...Qt?Or:[],R(Pt,{pipetteId:N}),R(vt,{pipetteId:N,volume:Ie,flowRate:oa,...na>0?{correctionVolume:na}:{}}),...dr]:[],$t=Pe=>E!=null&&ye?[R(At,{pipetteId:N,labwareId:A,wellName:E,...nt!=null?{mmFromEdge:nt}:{},zOffsetFromTop:bt,...kt!=null?{speed:kt}:{}}),...It(Pe).length>0&&Lr?[R(z,{pipetteId:N,labwareId:A,wellName:E,wellLocation:Ut})]:[]]:[],ve=me===0,Ue=me===pn.length-1,ia=Se.length,he=Ne*ia,Xe=I==="always"||I==="once"&&ve;let fr=[];if(Xe){const Pe=Yt?.shift();fr=[P(ro,{pipette:N,primaryNozzle:B,nozzles:j,dropTipLocation:Ct&&st!=null?st:Ae,tipRack:se,...W===Ot&&Pe!=null&&x!=null?{tipSelectionArgs:{tipRackId:x,tipWell:Pe}}:{}})]}const vr=Rn(Se,(Pe,Qt)=>{const Nr=Qt===0;let St=0,Jt=k;Nr&&!Xe&&!ve?(St=Ie,Jt=fn):Nr||(St=te,Jt=dn);const ca={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[m],offset:{x:_,y,z:T}},yn={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[i],offset:{x:u,y:p,z:d}},bn=xr({retractZOffset:d,retractPositionReference:i,labwareId:re,labwareEntities:Ee,well:Pe}),pa=!bn&&Pe!=null?[R(z,{pipetteId:N,labwareId:re,wellName:Pe,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})]:[],Tn=c.getByVolumeValue({liquidClass:oe,pipetteSpecs:Le,tiprackDefUri:se,targetVolume:St,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Cr=Nr?[...c.LOW_VOLUME_PIPETTES.includes(t.pipetteEntities[N].name)?[R(kn,{pipetteId:N,volume:he})]:[],R(Pt,{pipetteId:N})]:[],da=St>0?[R(Je,{pipetteId:N,volume:St,flowRate:Jt,...Tn>0?{correctionVolume:Tn}:{},isAirGap:!0,pushOut:0}),...Ar]:[],Dr=[...[R(z,{pipetteId:N,labwareId:re,wellName:Pe,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})],...da,...Cr],In=[R(z,{pipetteId:N,labwareId:re,wellName:Pe,wellLocation:ca}),R(z,{pipetteId:N,labwareId:re,...h!=null?{speed:h}:{},wellName:Pe,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[o],offset:{x:b,y:w,z:S}}}),...f!=null&&f.seconds>0?[R(Te,{seconds:f.seconds})]:[]],_r=le?[R(At,{pipetteId:N,labwareId:re,wellName:Pe,...xe!=null?{mmFromEdge:xe}:{},zOffsetFromTop:rt,...We!=null?{speed:We}:{}}),...te>0&&bn?[R(z,{pipetteId:N,labwareId:re,wellName:Pe,wellLocation:yn})]:[]]:[],Mr=c.getByVolumeValue({liquidClass:oe,pipetteSpecs:Le,tiprackDefUri:se,targetVolume:te,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,er=te>0?[...pa,R(vt,{pipetteId:N,volume:te,flowRate:aa,...Mr>0?{correctionVolume:Mr}:{}}),...dr]:[],yr=[R(Ba,{pipetteId:N,volume:Ne,flowRate:a,correctionVolume:pr}),...dr],fa=[R(z,{pipetteId:N,labwareId:re,...l!=null?{speed:l}:{},wellName:Pe,wellLocation:yn}),...s!=null&&s?.seconds>0?[R(Te,{seconds:s.seconds})]:[]];return[...Dr,...In,...yr,...fa,..._r,...er]}),Pr=E!=null?[R(z,{pipetteId:N,labwareId:A,wellName:E,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION}),R(z,{pipetteId:N,labwareId:A,wellName:E,wellLocation:ra,...Re!=null?{speed:Re}:{}})]:[R(qe,{pipetteId:N,fixtureId:A,offset:{x:0,y:0,z:0}})],la=c.getByVolumeValue({liquidClass:oe,pipetteSpecs:Le,tiprackDefUri:se,targetVolume:te,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,mn=te>0?[R(Je,{pipetteId:N,volume:te,flowRate:dn,pushOut:0,correctionVolume:la,isAirGap:!0}),...Ar]:[],wt=E!=null?[R(z,{pipetteId:N,labwareId:A,wellName:E,wellLocation:ra}),R(z,{pipetteId:N,labwareId:A,...Re!=null?{speed:Re}:{},wellName:E,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[D],offset:{x:ie,y:ke,z:Be}}}),...fe!=null&&fe.seconds>0?[R(Te,{seconds:fe.seconds})]:[]]:[],ua=c.getByVolumeValue({liquidClass:oe,pipetteSpecs:Le,tiprackDefUri:se,targetVolume:he,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,mr=K!=null?0:q,Rr=[R(Je,{pipetteId:N,volume:he,flowRate:k,...mr!=null?{pushOut:mr}:{},correctionVolume:ua}),...Ar],Zt=(K!=null?c.getByVolumeValue({liquidClass:oe,pipetteSpecs:Le,tiprackDefUri:se,targetVolume:K.volume,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null}):a)??a,Xt=(K!=null?c.getByVolumeValue({liquidClass:oe,pipetteSpecs:Le,tiprackDefUri:se,targetVolume:K.volume,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null}):k)??k,hn=K!=null?$r({pipette:N,volume:K.volume,times:K.times,aspirateFlowRateUlSec:Zt,dispenseFlowRateUlSec:Xt,aspirateDelaySeconds:n?.seconds,dispenseDelaySeconds:O?.seconds,finalPushOut:q,invariantContext:t,liquidClass:oe,tiprack:se,generatePython:!1}):[],kr=[R(Bn,{pipetteId:N,flowRate:g})];let hr=[];L==null||L===Kr?hr=[...$t(!0),...It(!0)]:L===xn&&E!=null?hr=[R(z,{pipetteId:N,labwareId:A,wellName:E,wellLocation:{origin:c.WELL_ORIGIN_TOP}}),...kr,...$t(!0),...It(!0)]:hr=[...$t(!1),...It(!1),R(qe,{pipetteId:N,fixtureId:Object.values(Ce).length>0?Object.values(Ce)[0].id:Object.values(Fe)[0].id,offset:{x:0,y:0,z:0}}),...kr,...It(!0,!1)];const _n=Ct&&(me===pn.length-1||I==="always")?[R(Yr,{pipette:N,dropTipLocation:se,isReturnTip:Ct})]:[];return[...fr,...Kt,...vr,...Pr,...mn,...wt,...Rr,...hn,...hr,..._n]}),ta];return de(ao,t,r)},RA=(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(
+${Q(f.join(`,
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-)`}),h=[R($e,{pipetteId:n,fixtureId:a,offset:At}),R(Je,{pipetteId:n,volume:s,flowRate:o}),m];return le(h,t,r)},RA=(e,t,r)=>{const{pipetteId:n,flowRate:a,volume:o,wasteChuteId:s}=e,{pipetteEntities:i,wasteChuteEntities:l}=t,u=l[s].pythonName,p=i[n].pythonName,d=[`volume=${o}`,`location=${u}`,`rate=${a} / ${p}.flow_rate.dispense`],f=()=>({commands:[],python:`${p}.dispense(
-${Y(d.join(`,
+)`}),h=[R(qe,{pipetteId:n,fixtureId:a,offset:Lt}),R(Je,{pipetteId:n,volume:s,flowRate:o}),m];return de(h,t,r)},kA=(e,t,r)=>{const{pipetteId:n,flowRate:a,volume:o,wasteChuteId:s}=e,{pipetteEntities:i,wasteChuteEntities:l}=t,u=l[s].pythonName,p=i[n].pythonName,d=[`volume=${o}`,`location=${u}`,`rate=${a} / ${p}.flow_rate.dispense`],f=()=>({commands:[],python:`${p}.dispense(
+${Q(d.join(`,
 `))},
-)`}),m=[R($e,{pipetteId:n,fixtureId:s,offset:At}),R(Je,{pipetteId:n,flowRate:a,volume:o}),f];return 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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de(m,t,r)},Mb=(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:y,aspirateSubmergeZOffset:T,aspirateXOffset:b,aspirateYOffset:w,aspirateZOffset:S,blowoutFlowRateUlSec:g,blowoutLocation:L,changeTip:I,destLabware:A,destWells:E,dispenseDelay:O,dispenseFlowRateUlSec:k,dispensePositionReference:D,dispenseRetractDelay:M,dispenseRetractPositionReference:G,dispenseRetractSpeed:Y,dispenseRetractXOffset:ae,dispenseRetractYOffset:fe,dispenseRetractZOffset:J,dispenseSubmergeDelay:Re,dispenseSubmergePositionReference:Ve,dispenseSubmergeSpeed:Me,dispenseSubmergeXOffset:je,dispenseSubmergeYOffset:ie,dispenseSubmergeZOffset:ke,dispenseXOffset:Be,dispenseYOffset:Ae,dispenseZOffset:oe,dropTipLocation:K,liquidClass:j,mixBeforeAspirate:N,nozzles:B,pipette:q,preWetTip:re,primaryNozzle:V,pushOut:Z,sourceLabware:W,sourceWell:x,tipRack:H,tipTracking:le,tiprackSelected:xe,tipsSelected:rt,touchTipAfterAspirate:We,touchTipAfterAspirateMmFromEdge:ye,touchTipAfterAspirateOffsetMmFromTop:nt,touchTipAfterAspirateSpeed:bt,touchTipAfterDispense:kt,touchTipAfterDispenseMmFromEdge:Tt,touchTipAfterDispenseOffsetMmFromTop:Ne,touchTipAfterDispenseSpeed:at,stepNumber:Ee,volume:Ce}=e,{pipetteEntities:Fe,labwareEntities:ue,trashBinEntities:ce,wasteChuteEntities:Nt}=t,Ke="distribute",te=[],Ie=Fe[q]?.spec.channels!==1,Ir=ue[W]?.def.parameters.quirks?.includes("touchTipDisabled"),ot=e.aspirateAirGapVolume??0,He=e.dispenseAirGapVolume??0,we=e.disposalVolume!=null&&e.disposalVolume>0?e.disposalVolume:0,st=e.conditioningVolume!=null&&e.conditioningVolume>0?e.conditioningVolume:0;(r.pipettes[q]==null||Fe[q]==null)&&te.push(mt({pipette:q})),(!W||!r.labware[W])&&te.push(ht({actionName:Ke,labware:W}));const Qr=ee(r.labware[A]?.stack),Ct=ee(r.labware[W]?.stack);Object.keys(Nt).length>0&&(Qr===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA||Ct===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA)&&te.push(ka());const Jr=[...Object.keys(t.trashBinEntities),...Object.keys(t.wasteChuteEntities)],ur=Jr.length>0?Jr[0]:null,Ze=Object.values(t.labwareEntities).find(({labwareDefURI:he})=>he===K),se=Ze!=null&&c.getIsTiprack(Ze.def),Dt=t.wasteChuteEntities[K]!=null,Le=t.trashBinEntities[K]!=null,pt=r.tipState.pipettes[q]?.hasTip;(K==null||se&&ur==null&&I!=="never"&&pt||!se&&!Dt&&!Le)&&te.push(Mn());let ne,X;if(I==="never"){const he=r.tipState.pipettes[q]?.tiprackURI;ne=t.labwareEntities[he??""],X=ne?.labwareDefURI}else ne=Object.values(ue).find(({labwareDefURI:he})=>he===H),X=H;ne==null&&(I==="never"?te.push(jt({actionName:Ke,pipette:q})):te.push(ht({actionName:Ke,labware:X})));const{def:dt=null}=ne??{},{spec:be,name:it,pythonName:Gt}=Fe[q],Mt=c.getAllLiquidClassDefs()[j===c.NONE_LIQUID_CLASS_NAME||j==null?c.WATER_LIQUID_CLASS_NAME:j].byPipette?.find(({pipetteModel:he})=>he===c.getFlexNameConversion(be))?.byTipType.find(({tiprack:he})=>he===X)??null,{aspirate:en,multiDispense:cr}=Mt??{},{multiWellHandling:wr}=tp({pipetteSpecs:be,tiprackDefinition:dt,volume:Ce,path:"multiDispense",numAspirateWells:1,numDispenseWells:E.length,conditioningByVolume:cr?.conditioningByVolume??[],disposalByVolume:cr?.disposalByVolume??[],aspirateAirGapByVolume:en?.retract.airGapByVolume??[]}),{numWellsToFitInTip:pr}=wr;if((!wr.isSupported||pr==null||pr===1)&&te.push(TT()),Ie&&B!==c.ALL){const he=_t({robotState:r,invariantContext:t,pipetteId:q,labwareId:W,wellLocationOffset:{x:b,y:w},wellTargetName:x,primaryNozzle:V,nozzleConfiguration:B});he.isSafe||te.push(xt({unsafePipetteMovementReason:he.reason}));const Xe=_t({robotState:r,invariantContext:t,pipetteId:q,labwareId:A,wellLocationOffset:{x:Be,y:Ae},wellTargetName:E[0],primaryNozzle:V,nozzleConfiguration:B});Xe.isSafe||te.push(xt({unsafePipetteMovementReason:Xe.reason}))}const Oe=t.labwareEntities[W]?.def.wells[x]?.depth??null,Ft=c.getMmFromBottom(S,o,Oe),Sr=c.getMmFromBottom(T,m,Oe),gr=c.getMmFromBottom(d,i,Oe);Ft!=null&&Sr!=null&&Ft>Sr&&te.push(xh()),Ft!=null&&gr!=null&&Ft>gr&&te.push(Hh());const tn=[R(z,{pipetteId:q,labwareId:W,wellName:x,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})],Er=Go(q,t,X)-ot;if(Math.floor((Er-we)/Ce)===0&&te.push(ho({actionName:Ke,volume:Ce,maxVolume:Er,disposalVolume:we})),te.length>0)return{errors:te};const{tipracks:nn}=to(q,X,t,r,V,B),an=c.getByVolumeValue({liquidClass:j,pipetteSpecs:be,tiprackDefUri:X,targetVolume:Ce,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,on=ce[A]?.pythonName??Nt[A]?.pythonName,Jn=ce[K]?.pythonName??Nt[K]?.pythonName,sn=L==null?null:ce[L]?.pythonName??Nt[L]?.pythonName,Yt=ue[W].pythonName,ln=ue[A]?.pythonName,un=(B===c.PARTIAL_COLUMN?ar({labwareDef:ue[W].def,wells:[x],primaryNozzle:V}):[x])[0],cn=B===c.PARTIAL_COLUMN&&E!=null&&ue[A]!=null?ar({labwareDef:ue[A].def,wells:E,primaryNozzle:V}):E,ea=`${Yt}[${F(un)}]`,ta=cn.map(he=>`${ln}[${F(he)}]`).join(", 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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 p=`${l}_task_${i.numProfilesStarted+1}`;return u.push(O(W_,{moduleId:n,profileElements:a,blockMaxVolumeUl:s,taskId:p})),le(u,t,r)},vA=()=>({lidOpen:!1,lidClosed:!1,setBlockTemperature:!1,deactivateBlockTemperature:!1,setLidTemperature:!1,deactivateLidTemperature:!1}),kA=(e,t)=>!e.lidOpen&&t.lidOpen?{lidOpen:!0}:{},PA=(e,t)=>e.lidOpen&&!t.lidOpen||e.lidOpen===null&&!t.lidOpen?{lidClosed:!0}:{},NA=(e,t)=>t==null?e.currentBlockActivity.type==="blockDeactivated":e.currentBlockActivity.type==="blockTargetTemp"&&e.currentBlockActivity.blockTargetTemp===t,CA=(e,t)=>{const r={...kA(e,t)},n={...PA(e,t)},a=!NA(e,t.blockTargetTemp),o=a&&t.blockTargetTemp===null,s=a&&t.blockTargetTemp!==null,i=e.lidTargetTemp!==t.lidTargetTemp,l=i&&t.lidTargetTemp===null,u=i&&t.lidTargetTemp!==null;return{...vA(),...r,...n,setBlockTemperature:s,deactivateBlockTemperature:o,setLidTemperature:u,deactivateLidTemperature:l}},Fb=(e,t,r)=>{const 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In=Dr===0,_r=Dr===he.length-1,Mr=mn&&_r;let er=0,yr=k;In&&ot>0?(er=ot,yr=ao):!In&&He>0&&st===0&&(er=He,yr=me);const fa=c.getByVolumeValue({liquidClass:j,pipetteSpecs:be,tiprackDefUri:X,targetVolume:er,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,oo=xr({retractZOffset:J,retractPositionReference:G,labwareId:A,labwareEntities:ue,well:$e}),Ko=oo?[]:[R(z,{pipetteId:q,labwareId:A,wellName:$e,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})],so=$e!=null?[R(z,{pipetteId:q,labwareId:A,wellName:$e,wellLocation:Lr}),...er>0?[R(Je,{isAirGap:!0,pipetteId:q,volume:er,flowRate:yr,pushOut:0,correctionVolume:fa}),...Xt]:[],R(z,{pipetteId:q,labwareId:A,...Me!=null?{speed:Me}:{},wellName:$e,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[D],offset:{x:Be,y:Ae,z:oe}}}),...Re!=null&&Re.seconds>0?[R(Te,{seconds:Re.seconds})]:[]]:[R(qe,{fixtureId:A,pipetteId:q,offset:{x:0,y:0,z:0}})],ma=we===0&&_r?Z:0,gt=[R(Je,{pipetteId:q,volume:Ce,flowRate:k,...ma!=null?{pushOut:ma}:{},correctionVolume:an}),...Xt],wn=$e!=null?[R(z,{pipetteId:q,labwareId:A,...Y!=null?{speed:Y}:{},wellName:$e,wellLocation:Or}),...M!=null&&M?.seconds>0?[R(Te,{seconds:M.seconds})]:[]]:[],qt=_r?[R(Bn,{pipetteId:q,flowRate:g})]:[],io=c.getByVolumeValue({liquidClass:j,pipetteSpecs:be,tiprackDefUri:X,targetVolume:He,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Vt=(ha,Xb=!0)=>He>0&&!(Dr<he.length-1&&st>0)&&!(I==="never"&&Mr&&ha)?[...Xb?Ko:[],R(Pt,{pipetteId:q}),R(vt,{pipetteId:q,volume:He,flowRate:Se,...io>0?{correctionVolume:io}:{}}),...Qt]:[],Et=ha=>$e!=null&&kt?[R(At,{pipetteId:q,labwareId:A,wellName:$e,...Tt!=null?{mmFromEdge:Tt}:{},zOffsetFromTop:Ne,...at!=null?{speed:at}:{}}),...Vt(ha).length>0&&oo?[R(z,{pipetteId:q,labwareId:A,wellName:$e,wellLocation:Or})]:[]]:[];let Fr=[];if(L==null||!_r)Fr=[...Et(!0),...Vt(!0)];else if(L===xn)Fr=[R(z,{pipetteId:q,labwareId:A,wellName:$e,wellLocation:{origin:c.WELL_ORIGIN_TOP}}),...qt,...Et(!0),...Vt(!0)];else if(L===Kr){const ha=Vt(!0);Fr=[...Et(!1),...Vt(!1),R(z,{pipetteId:q,labwareId:W,wellName:x,wellLocation:{origin:c.WELL_ORIGIN_TOP}}),...qt,...kt&&!Ir?[R(At,{pipetteId:q,labwareId:W,wellName:x,...Tt!=null?{mmFromEdge:Tt}:{},zOffsetFromTop:Ne,...at!=null?{speed:at}:{}})]:[],...ha.length>0?[R(z,{pipetteId:q,labwareId:W,wellName:x,wellLocation:{origin:c.WELL_ORIGIN_TOP}})]:[],...Vt(!0,!1)]}else Fr=[...Et(!1),...Vt(!1),R(qe,{pipetteId:q,fixtureId:Object.values(ce).length>0?Object.values(ce)[0].id:Object.values(Nt)[0].id,offset:{x:0,y:0,z:0}}),...qt,...Vt(!0,!1)];return[...so,...gt,...wn,...Fr]}),da=se&&(Xe===It.length-1||I==="always")?[R(Yr,{pipette:q,dropTipLocation:X,isReturnTip:se})]:[];return[...mr,...kr,...hr,...Pe,..._n,...pa,...Tn,...Nr,...Jt,...Cr,...da]}),dn];return de(ia,t,r)},Fb=(e,t,r)=>{const{timerHours:n,timerMinutes:a,timerSeconds:o,latchOpen:s,targetTemperature:i,rpm:l}=e;if(e.moduleId==null)return{errors:[pe()]};const u=Rt(r,e.moduleId),p=e.moduleId??"";if(u==null)return{errors:[pe()]};const d=[];if(s||d.push(P(J_,{moduleId:p})),i===null?d.push(P(tc,{moduleId:p})):d.push(P(Hc,{moduleId:p,celsius:i})),l===null&&"targetSpeed"in u&&u.targetSpeed!==null?d.push(P(rc,{moduleId:p})):l!==null&&d.push(P(ty,{moduleId:p,rpm:l})),[n,a,o].some(m=>m!=null&&m!==0)){i!==null&&d.push(P(Yc,{moduleId:p,celsius:i}));const m=(n??0)*3600+(a??0)*60+(o??0);d.push(P(Te,{seconds:m})),d.push(P(rc,{moduleId:p})),d.push(P(tc,{moduleId:p}))}return s&&d.push(P(ey,{moduleId:p})),de(d,t,r)},Ub=(e,t,r)=>{const{moduleId:n,profileElements:a,profileTargetLidTemp:o,profileVolume:s}=e,i=Yo(r,n);if(i===null)return{errors:[pe()]};const l=t.moduleEntities[n].pythonName,u=[];i.lidOpen!==!1&&u.push(P(Kc,{moduleId:n})),o!==i.lidTargetTemp&&u.push(P(Zc,{moduleId:n,celsius:o}));const p=`${l}_task_${i.numProfilesStarted+1}`;return u.push(P(Y_,{moduleId:n,profileElements:a,blockMaxVolumeUl:s,taskId:p})),de(u,t,r)},NA=()=>({lidOpen:!1,lidClosed:!1,setBlockTemperature:!1,deactivateBlockTemperature:!1,setLidTemperature:!1,deactivateLidTemperature:!1}),CA=(e,t)=>!e.lidOpen&&t.lidOpen?{lidOpen:!0}:{},DA=(e,t)=>e.lidOpen&&!t.lidOpen||e.lidOpen===null&&!t.lidOpen?{lidClosed:!0}:{},MA=(e,t)=>t==null?e.currentBlockActivity.type==="blockDeactivated":e.currentBlockActivity.type==="blockTargetTemp"&&e.currentBlockActivity.blockTargetTemp===t,FA=(e,t)=>{const r={...CA(e,t)},n={...DA(e,t)},a=!MA(e,t.blockTargetTemp),o=a&&t.blockTargetTemp===null,s=a&&t.blockTargetTemp!==null,i=e.lidTargetTemp!==t.lidTargetTemp,l=i&&t.lidTargetTemp===null,u=i&&t.lidTargetTemp!==null;return{...NA(),...r,...n,setBlockTemperature:s,deactivateBlockTemperature:o,setLidTemperature:u,deactivateLidTemperature:l}},$b=(e,t,r)=>{const 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i=e(i,function(u){if(a(u))return l=o(u.length,l),!0}),n(l,function(u){return t(i,r(u))})}return Yu=s,Yu}var Ku,Mh;function VA(){if(Mh)return Ku;Mh=1;var e=UA(),t=qA(),r=e(t);return Ku=r,Ku}var BA=VA();const xA=Ge(BA),qb=(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:y,aspirateSubmergeYOffset:T,aspirateSubmergeZOffset:b,aspirateXOffset:w,aspirateYOffset:S,aspirateZOffset:g,blowoutFlowRateUlSec:L,blowoutLocation:I,changeTip:A,destLabware:E,destWells:O,dispenseAirGapVolume:k,dispenseDelay:D,dispenseFlowRateUlSec:M,dispensePositionReference:G,dispenseRetractDelay:Y,dispenseRetractPositionReference:ae,dispenseRetractSpeed:fe,dispenseRetractXOffset:J,dispenseRetractYOffset:Re,dispenseRetractZOffset:Ve,dispenseSubmergeDelay:Me,dispenseSubmergePositionReference:je,dispenseSubmergeSpeed:ie,dispenseSubmergeXOffset:ke,dispenseSubmergeYOffset:Be,dispenseSubmergeZOffset:Ae,dispenseXOffset:oe,dispenseYOffset:K,dispenseZOffset:j,dropTipLocation:N,liquidClass:B,mixBeforeAspirate:q,mixInDestination:re,pipette:V,preWetTip:Z,primaryNozzle:W,pushOut:x,sourceLabware:H,nozzles:le,sourceWells:xe,tipRack:rt,tipTracking:We,tiprackSelected:ye,tipsSelected:nt,touchTipAfterAspirate:bt,touchTipAfterAspirateMmFromEdge:kt,touchTipAfterAspirateOffsetMmFromTop:Tt,touchTipAfterAspirateSpeed:Ne,touchTipAfterDispense:at,touchTipAfterDispenseMmFromEdge:Ee,touchTipAfterDispenseOffsetMmFromTop:Ce,touchTipAfterDispenseSpeed:Fe,volume:ue,stepNumber:ce}=e,{pipetteEntities:Nt,trashBinEntities:Ke,wasteChuteEntities:te,labwareEntities:Ie}=t,Ir=Hn(Ie,te,Ke,E),ot=Ie[H]?.def.parameters.quirks?.includes("touchTipDisabled");if(!(Ir==="labware"&&O!=null&&xe.length===O.length||(Ir==="wasteChute"||Ir==="trashBin")&&O==null&&xe.length>=1))throw 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It=!1;S==="always"?It=!0:S==="once"?It=Or:S==="perSource"?It=ke!==Lr:S==="perDest"&&(It=Or||qe!==aa);const ia=c.LOW_VOLUME_PIPETTES.includes(Mt)?[R(Rn,{pipetteId:V,volume:Xe})]:[];let fr=[];if(It){const wt=Yt?.shift();fr=[O(eo,{pipette:V,primaryNozzle:z,nozzles:me,dropTipLocation:Ct&&Ze!=null?Ze:P,tipRack:ee,...me!=null?{nozzles:me}:{},...je===Lt&&wt!=null&&he!=null?{tipSelectionArgs:{tipRackId:he,tipWell:wt}}:{}})]}const vr=Ie[j]?.def.wells[ke]?.depth??null,Kt=c.getMmFromBottom(E,s,vr),Zt=c.getMmFromBottom(y,h,vr),fn=c.getMmFromBottom(f,l,vr);Kt!=null&&Zt!=null&&Kt>Zt&&Ee.push(Vh());const kr=$r({retractZOffset:f,retractPositionReference:l,labwareId:j,labwareEntities:Ie,well:ke}),mr=!kr&&ke!=null?[R(x,{pipetteId:V,labwareId:j,wellName:ke,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})]:[],mn=$r({retractZOffset:Be,retractPositionReference:_e,labwareId:g,labwareEntities:Ie,well:qe}),Pe=!mn&&qe!=null?[R(x,{pipetteId:V,labwareId:g,wellName:qe,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})]:[];Kt!=null&&fn!=null&&Kt>fn&&Ee.push($h());const Xt=[R(x,{pipetteId:V,labwareId:j,wellName:ke,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})],Pr=[R(Rt,{pipetteId:V})],Et=c.getByVolumeValue({liquidClass:$,pipetteSpecs:ve,tiprackDefUri:ee,targetVolume:pt,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Qt=D!=null?[R(be,{seconds:D.seconds})]:[],la=pt>0&&!It&&(dr>0||Ut>0)?[R(Je,{isAirGap:!0,pipetteId:V,volume:pt,flowRate:pn,...Et>0?{correctionVolume:Et}:{},pushOut:0}),...Qt]:[],hn=[...Xt,...la,...ia,...Pr],_n=[R(x,{pipetteId:V,labwareId:j,wellName:ke,wellLocation:Qr}),R(x,{pipetteId:V,labwareId:j,..._!=null?{speed:_}:{},wellName:ke,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[s],offset:{x:I,y:w,z:E}}}),...m!=null&&m.seconds>0?[R(be,{seconds:m.seconds})]:[]],ua=G?Ur({pipette:V,volume:Xe,times:1,aspirateFlowRateUlSec:o,dispenseFlowRateUlSec:q,aspirateDelaySeconds:a?.seconds??0,dispenseDelaySeconds:D?.seconds??0,finalPushOut:0,invariantContext:t,liquidClass:$,tiprack:ee,generatePython:!1}):[],yn=F!=null?Ur({pipette:V,volume:F.volume,times:F.times,aspirateFlowRateUlSec:o,dispenseFlowRateUlSec:q,aspirateDelaySeconds:a?.seconds,dispenseDelaySeconds:D?.seconds,finalPushOut:0,invariantContext:t,liquidClass:$,tiprack:ee,generatePython:!1}):[],Nr=a!=null?[R(be,{seconds:a.seconds})]:[],ca=yt?[R(St,{pipetteId:V,labwareId:j,wellName:ke,...kt!=null?{mmFromEdge:kt}:{},zOffsetFromTop:bt,...Ne!=null?{speed:Ne}:{}}),...W>0&&kr?[R(x,{pipetteId:V,labwareId:j,wellName:ke,wellLocation:ur})]:[]]:[],Ve=c.getByVolumeValue({liquidClass:$,pipetteSpecs:ve,tiprackDefUri:ee,targetVolume:W,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Cr=W>0?[...mr,R(Ot,{pipetteId:V,volume:W,flowRate:ra,...Ve>0?{correctionVolume:Ve}:{}}),...Nr]:[],bn=[R(Va,{pipetteId:V,volume:Xe,flowRate:o,...en>0?{correctionVolume:en}:{}}),...Nr],hr=[R(x,{pipetteId:V,labwareId:j,...u!=null?{speed:u}:{},wellName:ke,wellLocation:ur}),...i!=null&&i?.seconds>0?[R(be,{seconds:i.seconds})]:[]],Dr=c.getByVolumeValue({liquidClass:$,pipetteSpecs:ve,tiprackDefUri:ee,targetVolume:W,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Jt=qe!=null?[R(x,{pipetteId:V,labwareId:g,wellName:qe,wellLocation:Ir}),...W>0?[R(Je,{isAirGap:!0,pipetteId:V,volume:W,flowRate:cn,pushOut:0,...Dr>0?{correctionVolume:Dr}:{}}),...Qt]:[],R(x,{pipetteId:V,labwareId:g,...Re!=null?{speed:Re}:{},wellName:qe,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[Q],offset:{x:J,y:Z,z:N}}}),...Me!=null&&Me.seconds>0?[R(be,{seconds:Me.seconds})]:[]]:[R($e,{fixtureId:g,pipetteId:V,offset:{x:0,y:0,z:0}})],_r=ue!=null&&qe!=null?0:U,pa=[R(Je,{pipetteId:V,volume:Xe,flowRate:q,..._r!=null?{pushOut:_r}:{},...wr>0?{correctionVolume:wr}:{}}),...Qt],no=ue!=null&&qe!=null?Ur({pipette:V,volume:ue.volume,times:ue.times,aspirateFlowRateUlSec:o,dispenseFlowRateUlSec:q,aspirateDelaySeconds:a?.seconds,dispenseDelaySeconds:D?.seconds,finalPushOut:U,invariantContext:t,liquidClass:$,tiprack:ee,generatePython:!1}):[],Ko=qe!=null?[R(x,{pipetteId:V,labwareId:g,...ne!=null?{speed:ne}:{},wellName:qe,wellLocation:cr}),...fe!=null&&fe?.seconds>0?[R(be,{seconds:fe.seconds})]:[]]:[],ao=R(Vn,{pipetteId:V,flowRate:A}),da=c.getByVolumeValue({liquidClass:$,pipetteSpecs:ve,tiprackDefUri:ee,targetVolume:pt,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,gt=(wt,Mr=!0)=>pt>0&&!(S==="never"&&dn&&wt)?[...Mr?Pe:[],R(Rt,{pipetteId:V}),R(Ot,{pipetteId:V,volume:pt,flowRate:na,...da>0?{correctionVolume:da}:{}}),...Nr]:[],Tn=wt=>qe!=null&&at?[R(St,{pipetteId:V,labwareId:g,wellName:qe,...Se!=null?{mmFromEdge:Se}:{},zOffsetFromTop:Ce,...Ue!=null?{speed:Ue}:{}}),...gt(wt).length>0&&mn?[R(x,{pipetteId:V,labwareId:g,wellName:qe,wellLocation:cr})]:[]]:[];let qt=[];switch(L){case null:case void 0:qt=[...Tn(!0),...gt(!0)];break;case $n:qt=[ao,...Tn(!0),...gt(!0)];break;case Wr:qt=[...Tn(!0),...gt(!1),R(x,{pipetteId:V,labwareId:j,wellName:ke,wellLocation:{origin:c.WELL_ORIGIN_TOP}}),ao,...at&&!ot?[R(St,{pipetteId:V,labwareId:j,wellName:ke,...Se!=null?{mmFromEdge:Se}:{},zOffsetFromTop:Ce,...Ue!=null?{speed:Ue}:{}})]:[],...gt(!0).length>0?[R(x,{pipetteId:V,labwareId:j,wellName:ke,wellLocation:{origin:c.WELL_ORIGIN_TOP}})]:[],...gt(!0,!1)];break;default:L in Ke?qt=[...Tn(!1),...gt(!1),R(Lb,{pipetteId:V,flowRate:A,trashId:L}),...gt(!0,!1)]:L in X&&(qt=[R(Ob,{pipetteId:V,flowRate:A,wasteChuteId:L}),...gt(!0,!1)]);break}const oo=Ct&&(dn||S==="always")?[R(Gr,{pipette:V,dropTipLocation:ee,isReturnTip:Ct})]:[],Vt=[...fr,...hn,..._n,...yn,...ua,...bn,...hr,...ca,...Cr,...Jt,...pa,...no,...Ko,...qt,...oo];return Lr=ke,aa=qe,[...pe,...Vt]},[]);return[...ce,...oa]},[]),Sr];return 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zA=Ge(HA),Hb=["A1","B1","C1","D1","E1","F1","G1","H1","A2","B2","C2","D2","E2","F2","G2","H2","A3","B3","C3","D3","E3","F3","G3","H3","A4","B4","C4","D4","E4","F4","G4","H4","A5","B5","C5","D5","E5","F5","G5","H5","A6","B6","C6","D6","E6","F6","G6","H6","A7","B7","C7","D7","E7","F7","G7","H7","A8","B8","C8","D8","E8","F8","G8","H8","A9","B9","C9","D9","E9","F9","G9","H9","A10","B10","C10","D10","E10","F10","G10","H10","A11","B11","C11","D11","E11","F11","G11","H11","A12","B12","C12","D12","E12","F12","G12","H12"],Hr="p300SingleId",Sa="p300MultiId",fc="p100096Id",mc="sourcePlateId",hc="destPlateId",_c="troughId",jA="A1",GA="tiprack1Id",WA={isAirGap:!0},lo=c.fixture96Plate,Dh=c.fixture12Trough,uo=c.fixtureTiprack10ul,$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=$b;exports.vacuumModuleStateGetter=ut;exports.vacuumOpenVent=Y_;exports.vacuumSetPumpPower=Hc;exports.vacuumSetPumpPressure=zc;exports.vacuumStartRunProfile=jc;exports.vacuumStopPump=Z_;exports.waitForModuleTask=xb;exports.waitForTemperature=Gc;exports.wellFillFromWellContents=HS;
+)`}),aa=c.getByVolumeValue({liquidClass:B,pipetteSpecs:Oe,tiprackDefUri:ne,targetVolume:X,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??o,dn=c.getByVolumeValue({liquidClass:B,pipetteSpecs:Oe,tiprackDefUri:ne,targetVolume:X,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??M,oa=c.getByVolumeValue({liquidClass:B,pipetteSpecs:Oe,tiprackDefUri:ne,targetVolume:dt,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??o,fn=c.getByVolumeValue({liquidClass:B,pipetteSpecs:Oe,tiprackDefUri:ne,targetVolume:dt,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??M,Lr=xA(xe,O);let Or=null,sa=null;const Se=[...Lr.reduce((me,It,$t)=>{const[ve,Ue]=It,ia=Mt.reduce((he,Xe,fr)=>{const vr=$t===0&&fr===0,Pr=$t+1===Lr.length,mn=fr+1===Mt.length&&Pr;let wt=!1;A==="always"?wt=!0:A==="once"?wt=vr:A==="perSource"?wt=ve!==Or:A==="perDest"&&(wt=vr||Ue!==sa);const ua=c.LOW_VOLUME_PIPETTES.includes(Ft)?[R(kn,{pipetteId:V,volume:Xe})]:[];let mr=[];if(wt){const Et=Kt?.shift();mr=[P(ro,{pipette:V,primaryNozzle:W,nozzles:le,dropTipLocation:Dt&&Ze!=null?Ze:N,tipRack:ne,...le!=null?{nozzles:le}:{},...We===Ot&&Et!=null&&ye!=null?{tipSelectionArgs:{tipRackId:ye,tipWell:Et}}:{}})]}const Rr=Ie[H]?.def.wells[ve]?.depth??null,Zt=c.getMmFromBottom(g,s,Rr),Xt=c.getMmFromBottom(b,h,Rr),hn=c.getMmFromBottom(f,l,Rr);Zt!=null&&Xt!=null&&Zt>Xt&&we.push(xh());const kr=xr({retractZOffset:f,retractPositionReference:l,labwareId:H,labwareEntities:Ie,well:ve}),hr=!kr&&ve!=null?[R(z,{pipetteId:V,labwareId:H,wellName:ve,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})]:[],_n=xr({retractZOffset:Ve,retractPositionReference:ae,labwareId:E,labwareEntities:Ie,well:Ue}),Pe=!_n&&Ue!=null?[R(z,{pipetteId:V,labwareId:E,wellName:Ue,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})]:[];Zt!=null&&hn!=null&&Zt>hn&&we.push(Hh());const Qt=[R(z,{pipetteId:V,labwareId:H,wellName:ve,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})],Nr=[R(Pt,{pipetteId:V})],St=c.getByVolumeValue({liquidClass:B,pipetteSpecs:Oe,tiprackDefUri:ne,targetVolume:dt,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Jt=D!=null?[R(Te,{seconds:D.seconds})]:[],ca=dt>0&&!wt&&(fr>0||$t>0)?[R(Je,{isAirGap:!0,pipetteId:V,volume:dt,flowRate:fn,...St>0?{correctionVolume:St}:{},pushOut:0}),...Jt]:[],yn=[...Qt,...ca,...ua,...Nr],bn=[R(z,{pipetteId:V,labwareId:H,wellName:ve,wellLocation:en}),R(z,{pipetteId:V,labwareId:H,..._!=null?{speed:_}:{},wellName:ve,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[s],offset:{x:w,y:S,z:g}}}),...m!=null&&m.seconds>0?[R(Te,{seconds:m.seconds})]:[]],pa=Z?$r({pipette:V,volume:Xe,times:1,aspirateFlowRateUlSec:o,dispenseFlowRateUlSec:M,aspirateDelaySeconds:a?.seconds??0,dispenseDelaySeconds:D?.seconds??0,finalPushOut:0,invariantContext:t,liquidClass:B,tiprack:ne,generatePython:!1}):[],Tn=q!=null?$r({pipette:V,volume:q.volume,times:q.times,aspirateFlowRateUlSec:o,dispenseFlowRateUlSec:M,aspirateDelaySeconds:a?.seconds,dispenseDelaySeconds:D?.seconds,finalPushOut:0,invariantContext:t,liquidClass:B,tiprack:ne,generatePython:!1}):[],Cr=a!=null?[R(Te,{seconds:a.seconds})]:[],da=bt?[R(At,{pipetteId:V,labwareId:H,wellName:ve,...kt!=null?{mmFromEdge:kt}:{},zOffsetFromTop:Tt,...Ne!=null?{speed:Ne}:{}}),...X>0&&kr?[R(z,{pipetteId:V,labwareId:H,wellName:ve,wellLocation:cr})]:[]]:[],$e=c.getByVolumeValue({liquidClass:B,pipetteSpecs:Oe,tiprackDefUri:ne,targetVolume:X,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Dr=X>0?[...hr,R(vt,{pipetteId:V,volume:X,flowRate:aa,...$e>0?{correctionVolume:$e}:{}}),...Cr]:[],In=[R(Ba,{pipetteId:V,volume:Xe,flowRate:o,...rn>0?{correctionVolume:rn}:{}}),...Cr],_r=[R(z,{pipetteId:V,labwareId:H,...u!=null?{speed:u}:{},wellName:ve,wellLocation:cr}),...i!=null&&i?.seconds>0?[R(Te,{seconds:i.seconds})]:[]],Mr=c.getByVolumeValue({liquidClass:B,pipetteSpecs:Oe,tiprackDefUri:ne,targetVolume:X,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,er=Ue!=null?[R(z,{pipetteId:V,labwareId:E,wellName:Ue,wellLocation:wr}),...X>0?[R(Je,{isAirGap:!0,pipetteId:V,volume:X,flowRate:dn,pushOut:0,...Mr>0?{correctionVolume:Mr}:{}}),...Jt]:[],R(z,{pipetteId:V,labwareId:E,...ie!=null?{speed:ie}:{},wellName:Ue,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[G],offset:{x:oe,y:K,z:j}}}),...Me!=null&&Me.seconds>0?[R(Te,{seconds:Me.seconds})]:[]]:[R(qe,{fixtureId:E,pipetteId:V,offset:{x:0,y:0,z:0}})],yr=re!=null&&Ue!=null?0:x,fa=[R(Je,{pipetteId:V,volume:Xe,flowRate:M,...yr!=null?{pushOut:yr}:{},...Er>0?{correctionVolume:Er}:{}}),...Jt],oo=re!=null&&Ue!=null?$r({pipette:V,volume:re.volume,times:re.times,aspirateFlowRateUlSec:o,dispenseFlowRateUlSec:M,aspirateDelaySeconds:a?.seconds,dispenseDelaySeconds:D?.seconds,finalPushOut:x,invariantContext:t,liquidClass:B,tiprack:ne,generatePython:!1}):[],Ko=Ue!=null?[R(z,{pipetteId:V,labwareId:E,...fe!=null?{speed:fe}:{},wellName:Ue,wellLocation:pr}),...Y!=null&&Y?.seconds>0?[R(Te,{seconds:Y.seconds})]:[]]:[],so=R(Bn,{pipetteId:V,flowRate:L}),ma=c.getByVolumeValue({liquidClass:B,pipetteSpecs:Oe,tiprackDefUri:ne,targetVolume:dt,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,gt=(Et,Fr=!0)=>dt>0&&!(A==="never"&&mn&&Et)?[...Fr?Pe:[],R(Pt,{pipetteId:V}),R(vt,{pipetteId:V,volume:dt,flowRate:oa,...ma>0?{correctionVolume:ma}:{}}),...Cr]:[],wn=Et=>Ue!=null&&at?[R(At,{pipetteId:V,labwareId:E,wellName:Ue,...Ee!=null?{mmFromEdge:Ee}:{},zOffsetFromTop:Ce,...Fe!=null?{speed:Fe}:{}}),...gt(Et).length>0&&_n?[R(z,{pipetteId:V,labwareId:E,wellName:Ue,wellLocation:pr})]:[]]:[];let qt=[];switch(I){case null:case void 0:qt=[...wn(!0),...gt(!0)];break;case xn:qt=[so,...wn(!0),...gt(!0)];break;case Kr:qt=[...wn(!0),...gt(!1),R(z,{pipetteId:V,labwareId:H,wellName:ve,wellLocation:{origin:c.WELL_ORIGIN_TOP}}),so,...at&&!ot?[R(At,{pipetteId:V,labwareId:H,wellName:ve,...Ee!=null?{mmFromEdge:Ee}:{},zOffsetFromTop:Ce,...Fe!=null?{speed:Fe}:{}})]:[],...gt(!0).length>0?[R(z,{pipetteId:V,labwareId:H,wellName:ve,wellLocation:{origin:c.WELL_ORIGIN_TOP}})]:[],...gt(!0,!1)];break;default:I in Ke?qt=[...wn(!1),...gt(!1),R(vb,{pipetteId:V,flowRate:L,trashId:I}),...gt(!0,!1)]:I in te&&(qt=[R(Pb,{pipetteId:V,flowRate:L,wasteChuteId:I}),...gt(!0,!1)]);break}const io=Dt&&(mn||A==="always")?[R(Yr,{pipette:V,dropTipLocation:ne,isReturnTip:Dt})]:[],Vt=[...mr,...yn,...bn,...Tn,...pa,...In,..._r,...da,...Dr,...er,...fa,...oo,...Ko,...qt,...io];return Or=ve,sa=Ue,[...he,...Vt]},[]);return[...me,...ia]},[]),Ar];return de(Se,t,r)},Vb=(e,t,r)=>de([P(xa,{moduleId:e.moduleId}),P(jc,{...e,commandCreatorFnName:"vacuumSetPumpPower"})],t,r),Bb=(e,t,r)=>de([P(xa,{moduleId:e.moduleId}),P(Wc,{...e,commandCreatorFnName:"vacuumSetPumpPressure"})],t,r),xb=(e,t,r)=>{const{ventAfter:n}=e;return de([P(xa,{moduleId:e.moduleId}),P(Gc,{...e,commandCreatorFnName:"vacuumStartRunProfile",ventAfter:n})],t,r)},Hb=(e,t,r)=>{const{runtimeParameters:n}=t,a=[],o=[];if(e.task_ids.forEach(l=>{const u=v(l,n);u==null?a.push(C({parameterName:l})):o.push(u)}),a.length>0)return{errors:a};const s=`[${o.join(", ")}]`,i=`${ge}.wait_for_tasks(${s})`;return{commands:[{key:$(),commandType:"waitForTasks",params:{task_ids:o}}],python:i}},zb=(e,t,r)=>{const{waitCondition:n}=e;return n==="thermocyclerProfileComplete"?HA(e,t,r):n==="vacuumProfileComplete"||n==="vacuumStateComplete"?zA(e,t,r):{errors:[vT(n)]}},HA=(e,t,r)=>{const{moduleId:n}=e,a=[],o=Yo(r,n);if(o==null)return{errors:[pe()]};if(o.currentBlockActivity.type!=="profile")return{errors:[gp()]};const{taskId:s}=o.currentBlockActivity;return s==null?{errors:[gp()]}:(a.push(P(Hb,{task_ids:[s]})),de(a,t,r))},zA=(e,t,r)=>{const{moduleId:n}=e,a=[],o=ct(r,n);if(o==null)return{errors:[pe()]};if(o.currentPumpActivity.type!=="timedHold"&&o.currentPumpActivity.type!=="profile")return{errors:[OT()]};const s=o.currentPumpActivity.taskId;return a.push(P(Hb,{task_ids:[s]})),de(a,t,r)};var Zu,Fh;function jA(){if(Fh)return Zu;Fh=1;var e=Uy(),t=1,r=4;function n(a){return e(a,t|r)}return Zu=n,Zu}var WA=jA();const GA=Ge(WA),jb=["A1","B1","C1","D1","E1","F1","G1","H1","A2","B2","C2","D2","E2","F2","G2","H2","A3","B3","C3","D3","E3","F3","G3","H3","A4","B4","C4","D4","E4","F4","G4","H4","A5","B5","C5","D5","E5","F5","G5","H5","A6","B6","C6","D6","E6","F6","G6","H6","A7","B7","C7","D7","E7","F7","G7","H7","A8","B8","C8","D8","E8","F8","G8","H8","A9","B9","C9","D9","E9","F9","G9","H9","A10","B10","C10","D10","E10","F10","G10","H10","A11","B11","C11","D11","E11","F11","G11","H11","A12","B12","C12","D12","E12","F12","G12","H12"],jr="p300SingleId",La="p300MultiId",mc="p100096Id",hc="sourcePlateId",_c="destPlateId",yc="troughId",YA="A1",KA="tiprack1Id",ZA={isAirGap:!0},co=c.fixture96Plate,Uh=c.fixture12Trough,po=c.fixtureTiprack10ul,Bt=c.fixtureTiprack300ul,Sn=c.fixtureTiprack1000ul,fo=c.fixtureTiprackAdapter,Wb={OT_PD_DISABLE_MODULE_RESTRICTIONS:!1};function Gb(e){return jb.reduce((t,r)=>({...t,[r]:e?Fa:_e}),{})}function XA(e,t){return Array.from("ABCDEFGH").map(r=>`${r}${e}`).reduce((r,n)=>({...r,[n]:t}),{})}function Yb(){const e={[hc]:{id:hc,pythonName:"mock_source_plate",labwareDefURI:c.getLabwareDefURI(co),def:co},[_c]:{id:_c,pythonName:"mock_dest_plate",labwareDefURI:c.getLabwareDefURI(co),def:co},[yc]:{id:yc,pythonName:"mock_trough",labwareDefURI:c.getLabwareDefURI(Uh),def:Uh},tiprack1Id:{id:"tiprack1Id",pythonName:"mock_tip_rack_1",labwareDefURI:c.getLabwareDefURI(Bt),def:Bt},tiprack2Id:{id:"tiprack2Id",pythonName:"mock_tip_rack_2",labwareDefURI:c.getLabwareDefURI(Bt),def:Bt},tiprack3Id:{id:"tiprack3Id",pythonName:"mock_tip_rack_3",labwareDefURI:c.getLabwareDefURI(Bt),def:Bt},tiprack4AdapterId:{id:"tiprack4AdapterId",pythonName:"mock_adapter_4",labwareDefURI:c.getLabwareDefURI(fo),def:fo},tiprack5AdapterId:{id:"tiprack5AdapterId",pythonName:"mock_adapter_5",labwareDefURI:c.getLabwareDefURI(fo),def:fo},tiprack4Id:{id:"tiprack4Id",pythonName:"mock_tip_rack_4",labwareDefURI:c.getLabwareDefURI(Sn),def:Sn},tiprack5Id:{id:"tiprack5Id",pythonName:"mock_tip_rack_5",labwareDefURI:c.getLabwareDefURI(Sn),def:Sn}},t={},r={[Qu]:{id:Qu,location:"cutoutA3",pythonName:"trash_bin_1"}},n={p10SingleId:{name:"p10_single",id:"p10SingleId",pythonName:"mock_pipette_p10",tiprackDefURI:[c.getLabwareDefURI(po)],tiprackLabwareDef:[po],spec:c.fixtureP10SingleV2Specs},p10MultiId:{name:"p10_multi",id:"p10MultiId",tiprackDefURI:[c.getLabwareDefURI(po)],tiprackLabwareDef:[po],spec:c.fixtureP10MultiV2Specs,pythonName:"mock_pipette_p10_multi"},[jr]:{name:"p300_single",id:jr,tiprackDefURI:[c.getLabwareDefURI(Bt)],tiprackLabwareDef:[Bt],spec:c.fixtureP300SingleV2Specs,pythonName:"mock_pipette"},[La]:{name:"p300_multi",id:La,tiprackDefURI:[c.getLabwareDefURI(Bt)],tiprackLabwareDef:[Bt],spec:c.fixtureP300MultiV2Specs,pythonName:"mock_pipette_p300_multi"},[mc]:{name:"p1000_96",id:mc,tiprackDefURI:[c.getLabwareDefURI(Sn)],tiprackLabwareDef:[Sn],spec:c.fixtureP100096V2Specs,pythonName:"mock_pipette_p1000_96"}};return{labwareEntities:e,moduleEntities:t,pipetteEntities:n,trashBinEntities:r,wasteChuteEntities:{},stagingAreaEntities:{},gripperEntities:{},liquidEntities:{},runtimeParameters:{},config:Wb}}const Xr=e=>{const{invariantContext:t,labwareLocations:r,moduleLocations:n,pipetteLocations:a,tiprackSetting:o}=e,s=Jc({invariantContext:t,labwareLocations:r,moduleLocations:n||{},pipetteLocations:a});return s.tipState.tipracks=or(o,i=>Gb(i)),s},Qn=()=>({pipetteLocations:{[jr]:{mount:"left",tiprackId:"tiprack1Id"},[La]:{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:{}}),Kb=()=>({pipetteLocations:{[jr]:{mount:"left"},[La]:{mount:"right"}},labwareLocations:{tiprack1Id:{stack:["tiprack1Id","B1"]},tiprack2Id:{stack:["tiprack2Id","A2"]},sourcePlateId:{stack:["sourcePlateId","offDeck"]},destPlateId:{stack:["destPlateId","C2"]}},moduleLocations:{}}),Zb=e=>Xr({...Qn(),invariantContext:e,tiprackSetting:{tiprack1Id:!0,tiprack2Id:!0}}),QA=e=>Xr({...Kb(),invariantContext:e,tiprackSetting:{tiprack1Id:!0,tiprack2Id:!0}}),JA=e=>({robotState:Zb(e),warnings:[]}),eL=e=>{const t=Xr({...Qn(),invariantContext:e,tiprackSetting:{tiprack1Id:!0,tiprack2Id:!0}});return t.tipState.pipettes[jr]={hasTip:!0,tiprackURI:"tiprack1Id"},t},tL=e=>{const t=Xr({...Qn(),invariantContext:e,tiprackSetting:{tiprack1Id:!0}});return t.tipState.pipettes[jr]={hasTip:!0,tiprackURI:"tiprack1Id"},t.tipState.tipracks.tiprack1Id.A1=_e,t},rL=e=>Xr({...Qn(),invariantContext:e,tiprackSetting:{tiprack1Id:!1,tiprack2Id:!1}}),nL=({temperatureModuleId:e,thermocyclerId:t})=>{const r=Yb();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=Xr({...Qn(),invariantContext:r,tiprackSetting:{tiprack1Id:!0}});return n.modules={[e]:{slot:"3",moduleState:{type:c.TEMPERATURE_MODULE_TYPE,status:Ma,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}},aL=(e,t,r,n)=>{const a=GA(e);return a.modules[t].moduleState={type:c.TEMPERATURE_MODULE_TYPE,targetTemperature:n,status:r},a};exports.ABSORBANCE_READER_INITIAL_STATE=Xh;exports.AIR=Ye;exports.AIR_GAP_META=ZA;exports.AIR_GAP_OFFSET_FROM_TOP=Xu;exports.AUTOMATIC=Ic;exports.BACK_LEFT_NOZZLES=c_;exports.BOTTOM_UP_LABWARE_POOL_KEYS=rr;exports.BOTTOM_UP_STORED_LABWARE_URI_KEYS=$T;exports.CLEAN=Fa;exports.COLUMN_4_SLOTS=De;exports.CUSTOM_LABWARE_DICT_NAME=Do;exports.DEFAULT_BLOWOUT_WELL=YA;exports.DEFAULT_CONFIG=Wb;exports.DEFAULT_PIPETTE=jr;exports.DEST_LABWARE=_c;exports.DEST_WELL_BLOWOUT_DESTINATION=xn;exports.DIRTY=tr;exports.EMPTY=_e;exports.FAKE_HOPPER_LOCATION_MAP=o_;exports.FIXED_TRASH_ID=Qu;exports.FLEX_STACKER_MODULE_INITIAL_STATE=Jh;exports.FLEX_TRASH_DEF_URI=FT;exports.GRIPPER_LOCATION=r_;exports.HEATERSHAKER_MODULE_INITIAL_STATE=Zh;exports.HOPPER_FAKE_LOCATIONS=a_;exports.HOPPER_STACKER_LOCATION=et;exports.INDENT=Ha;exports.MAGNETIC_BLOCK_INITIAL_STATE=Qh;exports.MAGNETIC_MODULE_INITIAL_STATE=Gh;exports.MANUAL=Ot;exports.MAX_STACKABLE_VACUUM_SPACERS=l_;exports.MIXED_WELL_COLOR=ab;exports.MODULES_WITH_COLLISION_ISSUES=Wh;exports.MODULE_INITIAL_STATE_BY_TYPE=t_;exports.MULTI_PIPETTE=La;exports.NOZZLE_STYLES=gc;exports.OFF_DECK=Nn;exports.OT2_TC_SLOTS=UT;exports.OT_2_TRASH_DEF_URI=MT;exports.PAPI_VERSION=sb;exports.PD_APPLICATION_VERSION=XE;exports.PIPETTE_96=mc;exports.PRIMARY_NOZZLES=Ec;exports.PROTOCOL_CONTEXT_NAME=ge;exports.SLOT_LOCATIONS_TO_FAKE_HOPPER_LOCATIONS=qT;exports.SOURCE_LABWARE=hc;exports.SOURCE_WELL_BLOWOUT_DESTINATION=Kr;exports.STAGING_AREA_SLOTS=n_;exports.TEMPERATURE_APPROACHING_TARGET=Tc;exports.TEMPERATURE_AT_TARGET=bc;exports.TEMPERATURE_DEACTIVATED=Ma;exports.TEMPERATURE_MODULE_INITIAL_STATE=Yh;exports.THERMOCYCLER_MODULE_INITIAL_STATE=Kh;exports.TIPRACK_1=KA;exports.TOUCHED_PIPETTABLE_LABWARE=dc;exports.TROUGH_LABWARE=yc;exports.VACUUM_AT_TARGET=YT;exports.VACUUM_DEACTIVATED=GT;exports.VACUUM_DOCK_ADDRESSABLE_AREA=s_;exports.VACUUM_DOCK_DISPLAY_LOCATION=u_;exports.VACUUM_DOCK_LOCATION=wc;exports.VACUUM_MODE_POWER=Ju;exports.VACUUM_MODE_PRESSURE=ec;exports.VACUUM_MODULE_INITIAL_STATE=e_;exports.VACUUM_PROGRAM_PROFILE=BT;exports.VACUUM_PROGRAM_STATE=VT;exports.VACUUM_SPACER_LOAD_NAMES=i_;exports.VACUUM_STATE_PUMP_OFF=xT;exports.VACUUM_STATE_PUMP_ON=HT;exports.VACUUM_STATE_VENT=zT;exports.VACUUM_VENT_CLOSED=Ua;exports.VACUUM_VENT_OPEN=Sc;exports.VACUUM_VENT_SET_CLOSED=WT;exports.VACUUM_VENT_SET_OPEN=jT;exports.ZERO_OFFSET=Lt;exports._getNextTip=Ab;exports._wellContentsForLabware=BE;exports.absorbanceReaderCloseInitialize=Lb;exports.absorbanceReaderCloseLid=No;exports.absorbanceReaderCloseRead=Ob;exports.absorbanceReaderCollision=ja;exports.absorbanceReaderInitialize=D_;exports.absorbanceReaderOpenLid=M_;exports.absorbanceReaderRead=F_;exports.absorbanceReaderStateGetter=Xn;exports.airGapLocationHelper=Bw;exports.aspirate=ww;exports.assignContainsAmongSiblings=_p;exports.blowOutInWell=Vc;exports.captureImage=U_;exports.column4StagingSlotIdFromFlexStackerShuttleAddressableArea=wy;exports.commandCreatorsTimeline=IE;exports.comment=$_;exports.consolidate=Db;exports.constructInvariantContextFromAnalysis=LE;exports.createEmptyLiquidState=hy;exports.createStagingAreaForInvariantContext=ac;exports.createTipLiquidState=_y;exports.curryCommandCreator=P;exports.curryWithoutPython=R;exports.deactivateTemperature=V_;exports.deckSlotKeyForFlexStackerShuttleAddressableArea=zw;exports.delay=Te;exports.delayLocationHelper=xw;exports.disengageMagnet=B_;exports.dispense=Bc;exports.dispenseLocationHelper=qw;exports.distribute=Mb;exports.dropTip=Yr;exports.dropTipInPlace=Co;exports.dropTipInTrash=kb;exports.dropTipInWasteChute=Nb;exports.engageMagnet=x_;exports.enrichRobotStateForStackGraphTraversals=Ag;exports.flexStackerEmpty=H_;exports.flexStackerFillItems=z_;exports.flexStackerRetrieve=j_;exports.flexStackerStateGetter=yt;exports.flexStackerStore=W_;exports.formatChangeTipArg=Wo;exports.formatPyDict=Br;exports.formatPyList=zc;exports.formatPyRuntimeValue=Vr;exports.formatPyStr=F;exports.formatPyTuple=Z_;exports.formatPyValue=sr;exports.formatPyWellLocation=zt;exports.getAddressableAreaFromModule=hp;exports.getAddressableAreaNameFromLabwareLocation=Tg;exports.getAllLargestStacks=Hy;exports.getAllProvidedAddressableAreasFromDeckConfig=zy;exports.getAllWellsForLabware=nb;exports.getCanPlaceStackableVacuumSpacer=uy;exports.getChunkForIndentingLists=Mo;exports.getCommandCreatorFromStepArgs=SA;exports.getCustomLiquidClassProperties=zo;exports.getCutoutFromSlot=Tb;exports.getCutoutIdByAddressableArea=cy;exports.getDefaultPrimaryNozzle=To;exports.getDefineLiquids=db;exports.getDispenseAirGapLocation=yy;exports.getFlexStackerCutoutBaseDeckSlotId=ep;exports.getFlexStackerShuttleAddressableArea=Uo;exports.getFullStackFromLabwares=$o;exports.getFullStackFromNodeTopDownRecursive=Ho;exports.getHasNoWellsFromCCArgs=SE;exports.getInitialRobotStateStandard=Zb;exports.getInitialRobotStateWithOffDeckLabwareStandard=QA;exports.getIsHeaterShakerEastWestMultiChannelPipette=Kn;exports.getIsHeaterShakerEastWestWithLatchOpen=Yn;exports.getIsHeaterShakerNorthSouthOfNonTiprackWithMultiChannelPipette=Za;exports.getIsInPipettableLocation=Ly;exports.getIsLabwareCompatibleWithStack=gy;exports.getIsRetractSafeForAirGap=xr;exports.getIsSafePickupWithinTiprack=Ip;exports.getIsSlotAHopper=Ey;exports.getIsSlotAVacuumDock=Sa;exports.getIsSpaceInHopper=ap;exports.getIsStackableVacuumSpacer=wa;exports.getIsTallLabwareEastWestOfHeaterShaker=tb;exports.getIsVacuumSpacer=sy;exports.getIsVacuumSpacerSeat=iy;exports.getLabwareHasLid=Ay;exports.getLabwareHasLiquid=Ty;exports.getLabwareIdOnShuttle=rp;exports.getLabwareSlot=jn;exports.getLargestStackContainingLabware=xy;exports.getLargestStackInSlot=Ia;exports.getLiquidClassName=Ja;exports.getLiquidIdsOnLabware=zE;exports.getLiquidIdsOnLabwareStack=HE;exports.getLoadAdapters=lb;exports.getLoadLabware=cb;exports.getLoadLidStacks=ub;exports.getLoadLiquidClasses=mb;exports.getLoadLiquids=fb;exports.getLoadModules=ib;exports.getLoadPipettes=pb;exports.getLoadTrashBins=hb;exports.getLoadWasteChute=_b;exports.getLocationTotalVolume=br;exports.getModuleHasLiveTask=Wn;exports.getModuleIdFromRobotStateStack=za;exports.getModuleLocationSlot=Hw;exports.getModuleState=Rt;exports.getNearestParentInStack=Iy;exports.getNextRobotStateAndWarnings=bp;exports.getNextRobotStateAndWarningsSingleCommand=eb;exports.getNextTiprack=to;exports.getNodeParentModuleId=yg;exports.getNozzleConfig=Tp;exports.getPipetteCenteringFullOffset=Sb;exports.getPipetteIdFromCCArgs=wE;exports.getPipetteMovementSafetyStatus=_t;exports.getPipetteWithTipMaxVol=Go;exports.getProvidedAddressableAreasExposed=Ig;exports.getPythonAssignTipRacksString=jo;exports.getResultingTimelineFrameFromRunCommands=vE;exports.getRobotInitialStateNoTipsRemain=rL;exports.getRobotStateAndWarningsStandard=JA;exports.getRobotStatePickedUpTipStandard=tL;exports.getRobotStateWithTipStandard=eL;exports.getRunTimeParameters=iA;exports.getSetStoredLabware=bb;exports.getSlotInLocationStack=ee;exports.getStackForLabwareLocation=nc;exports.getStackableVacuumSpacerLoadNamesInStack=ly;exports.getStackedOnNodeFromPdStack=jy;exports.getStateAndContextTempTCModules=nL;exports.getTargetTipsFromWellSets=eo;exports.getThermocyclerProfileRepetitionsForPython=gb;exports.getTipColumn=XA;exports.getTipColumnIndex=fc;exports.getTipColumnName=wp;exports.getTipRowName=Ln;exports.getTiprackHasTips=by;exports.getTiprackTipstate=Gb;exports.getTopLocationInStack=Fo;exports.getTopmostLabwareOnModuleFromStackRobotState=Ww;exports.getTransferPlanAndReferenceVolumes=tp;exports.getTrashBinAddressableAreaName=Xc;exports.getTrashLocationFromAddressableAreaName=dy;exports.getTrashOrLabware=Hn;exports.getVolumesPerLiquid=xE;exports.getWasteChuteAddressableAreaNamePip=py;exports.getWellsForTips=Qc;exports.heaterShaker=Fb;exports.indentPyLines=Q;exports.labwareMatchesLabwareInHopper=np;exports.makeContext=Yb;exports.makeInitialRobotState=Jc;exports.makeState=Xr;exports.makeStateArgsLabwareOffDeck=Kb;exports.makeStateArgsStandard=Qn;exports.mergeLiquid=Tr;exports.mix=Cb;exports.mixBlowoutLocationHelper=my;exports.modulePipetteCollision=Gn;exports.moveHelper=Vw;exports.moveLabware=G_;exports.moveToAddressableArea=qe;exports.moveToAddressableAreaForDropTip=xc;exports.pipetteAdjacentHeaterShakerWhileShaking=Zn;exports.pipetteIntoHeaterShakerLatchOpen=Xa;exports.pipetteIntoHeaterShakerWhileShaking=Qa;exports.pythonCustomLabwareDict=oA;exports.pythonDefRun=aA;exports.pythonImports=QE;exports.pythonMetadata=JE;exports.pythonRequirements=eA;exports.pythonRuntimeString=oc;exports.reduceCommandCreators=de;exports.repeatArray=fy;exports.replaceTip=ro;exports.resolveAllowedRuntimeValue=En;exports.resolveBooleanRuntimeValue=lt;exports.resolveDeckSlotKeyForLabwareStackInSlot=Sy;exports.resolveNumericRuntimeValue=U;exports.resolveRuntimeWellLocation=Cn;exports.resolveStringRuntimeValue=v;exports.robotWithStatusAndTemp=aL;exports.setTemperature=Hc;exports.sortLabwareBySlot=Eb;exports.splitLiquid=nr;exports.stepCommands=yb;exports.swatchColors=ob;exports.thermocyclerPipetteCollision=Ya;exports.thermocyclerProfileStep=Ub;exports.thermocyclerStateGetter=Yo;exports.thermocyclerStateStep=$b;exports.tiprackWellNamesFlat=jb;exports.touchTip=At;exports.transfer=qb;exports.unrollThermocyclerProfile=Sp;exports.uuid=$;exports.vacuumCloseVent=xa;exports.vacuumCloseVentSetPumpPower=Vb;exports.vacuumCloseVentSetPumpPressure=Bb;exports.vacuumCloseVentStartProfile=xb;exports.vacuumModuleStateGetter=ct;exports.vacuumOpenVent=K_;exports.vacuumSetPumpPower=jc;exports.vacuumSetPumpPressure=Wc;exports.vacuumStartRunProfile=Gc;exports.vacuumStopPump=Q_;exports.waitForModuleTask=zb;exports.waitForTemperature=Yc;exports.wellFillFromWellContents=WE;