@opentrons/step-generation 0.3.24-alpha.0 → 0.3.26-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 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. 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 gp(){return{message:"This module is not currently running a profile.",type:"MISSING_PROFILE_STEP"}}function nT(e){const{volume:t,maxVolume:r,actionName:n}=e;return{message:`This step tries to ${n} ${t}µL, but the tip can only hold ${r}µL.`,type:"TIP_VOLUME_EXCEEDED"}}function C(e){const{parameterName:t}=e;return{message:`Runtime parameter "${t}" is missing`,type:"INVALID_RUNTIME_PARAMETER"}}function ho(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 ${n}µL.`,type:"PIPETTE_VOLUME_EXCEEDED"}}const aT=()=>({type:"MOVE_LOCATION_NOT_SPECIFIED",message:"This step is missing a move location."}),Oa=()=>({type:"MODULE_PIPETTE_COLLISION_DANGER",message:"Gen 1 8-Channel pipettes cannot access labware or tip racks in slot 4 or 6 because they are adjacent to modules."}),oT=()=>({type:"THERMOCYCLER_BUSY_WITH_PROFILE",message:"This step cannot run while the Thermocycler is running a profile. Move the step outside the profile."}),On=()=>({type:"THERMOCYCLER_LID_CLOSED",message:"Attempted to interact with contents of a thermocycler with the lid closed."}),Io=()=>({type:"HEATER_SHAKER_LATCH_OPEN",message:"Attempted to interact with contents of a heater-shaker with the latch open."}),Ep=()=>({type:"HEATER_SHAKER_LATCH_CLOSED",message:"Attempted to move the contents of a heater-shaker with the latch closed."}),qr=()=>({type:"ABSORBANCE_READER_LID_CLOSED",message:"Attempted to interact with contents of an absorbance plate reader with the lid closed."}),sT=()=>({type:"ABSORBANCE_READER_NO_INITIALIZATION",message:"This step tries to read labware without initializing the Plate Reader first. Initialize the Plate Reader module or remove this step in order to proceed."}),$h=()=>({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."}),iT=()=>({type:"HOPPER_EMPTY",message:"Cannot retrieve labware from empty stacker"}),lT=()=>({type:"SHUTTLE_FULL",message:"Shuttle must be empty in order to retrieve labware from the stacker"}),uT=()=>({type:"SHUTTLE_EMPTY",message:"Shuttle must have labware in order to store it in the stacker"}),qh=()=>({type:"MISMATCHED_STACKER_LABWARE_TYPE",message:"The stacker can only store a single type of labware at a time"}),cT=()=>({type:"MISSING_STACKER_LABWARE_TYPE",message:"Add labware to the stacker in the starting deck so that you can refill it later"}),Vh=()=>({type:"HOPPER_FULL",message:"The hopper has reached capacity"}),vn=()=>({type:"HEATER_SHAKER_IS_SHAKING",message:"Attempted to interact with the contents of a heater-shaker when it is shaking."}),pT=e=>({type:"TALL_LABWARE_EAST_WEST_OF_HEATER_SHAKER",message:`Labware over 53 mm is ${e} of this Heater-Shaker module.`}),xt=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}}}},va=()=>({type:"HEATER_SHAKER_EAST_WEST_LATCH_OPEN",message:"The Heater-Shaker labware latch is open"}),Pa=()=>({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"}),wo=()=>({type:"HEATER_SHAKER_NORTH_SOUTH__OF_NON_TIPRACK_WITH_MULTI_CHANNEL",message:"8-Channel pipette cannot access labware"}),Pn=()=>({type:"LABWARE_OFF_DECK",message:"Attempted to interact with labware off deck"}),dT=()=>({type:"LABWARE_ON_ANOTHER_ENTITY",message:"Attempted to move labware onto another entity with the same slotName"}),Mn=()=>({type:"DROP_TIP_LOCATION_DOES_NOT_EXIST",message:"The destination for dropping tip does not exist"}),Bh=()=>({type:"EQUIPMENT_DOES_NOT_EXIST",message:"Equipment does not exist."}),fT=()=>({type:"GRIPPER_REQUIRED",message:"The gripper is required to fulfill this action"}),Ht=e=>({type:"PIPETTING_INTO_COLUMN_4",message:`Cannot ${e.typeOfStep} into a column 4 slot.`}),mT=()=>({type:"CANNOT_MOVE_WITH_GRIPPER",message:"The gripper cannot move aluminum blocks"}),hT=()=>({type:"NO_TIP_SELECTED",message:"No tips were selected for this step"}),ka=()=>({type:"LABWARE_DISCARDED_IN_TRASH",message:"The labware was discarded in trash in a previous step."}),xh=()=>({type:"SUBMERGE_BELOW_ASPIRATE",message:"The submerge position must be above the aspirate position"}),Hh=()=>({type:"RETRACT_BELOW_ASPIRATE",message:"The retract position must be above the aspirate position"}),_T=()=>({type:"SUBMERGE_BELOW_DISPENSE",message:"The submerge position must be above the dispense position"}),yT=()=>({type:"RETRACT_BELOW_DISPENSE",message:"The retract position must be above the dispense position"}),bT=()=>({type:"MULTI_ASPIRATE_VOLUME_TOO_HIGH",message:"Consolidate pipette path was selected but cannot fit volume for more than 1 well in the tip"}),TT=()=>({type:"MULTI_DISPENSE_VOLUME_TOO_HIGH",message:"Distribute pipette path was selected but cannot fit volume for more than 1 well in the tip"}),IT=e=>({type:"CLOSING_THERMOCYCLER_WITH_INVALID_LABWARE_LID",message:`Closing the Thermocycler lid with ${e.lidDisplayName} in place will cause damage`}),Ap=()=>({type:"RETURN_TIP_UNAVAILABLE",message:"Current tip does not have a known location to return to"}),wT=()=>({type:"TIPRACK_LID_NOT_ALLOWED_ON_DECK",message:"The tip rack lid is not supported directly on the deck"}),ST=()=>({type:"NEXT_TIPRACK_HAS_LID",message:"A pipette cannot pick up tips from a tip rack with a lid"}),gT=e=>({type:"STACK_TOO_HIGH",message:`The stack on slot ${e.slot} is too high`}),ET=()=>({type:"TOO_MANY_TIPS",message:"Action will pick up too many tips"}),AT=()=>({type:"INCOMPLETE_PICKUP",message:"At least one of the selected tips is empty"}),LT=()=>({type:"LABWARE_ON_HOPPER",message:"Labware cannot be moved from the Flex Stacker Hopper"}),OT=()=>({type:"MISSING_PUMP_ACTIVITY",message:"This module is not currently running a pump activity."}),vT=e=>({type:"INVALID_WAIT_CONDITION",message:`Invalid wait condition: ${e}`}),Na=()=>({type:"LIVE_TASK_ERROR",message:"This module is currently running a live task. 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bw(){if(om)return Al;om=1;function e(t,r,n,a,o){return o(t,function(s,i,l){n=a?(a=!1,s):r(n,s,i,l)}),n}return Al=e,Al}var Ll,sm;function Tw(){if(sm)return Ll;sm=1;var e=yw(),t=Uc(),r=Vn(),n=bw(),a=tt();function o(s,i,l){var u=a(s)?e:n,p=arguments.length<3;return u(s,r(i,4),l,p,t)}return Ll=o,Ll}var Iw=Tw();const ft=Ge(Iw),No=(e,t,r)=>{const{gripperEntities:n,moduleEntities:a,runtimeParameters:o}=t,s=v(e.moduleId,o);if(s==null)return{errors:[C({parameterName:e.moduleId})]};const i=Xn(r,s),l=Object.keys(n).length>0,u=[];if(i==null&&u.push(pe()),l||u.push($h()),u.length>0)return{errors:u};const p=a[s].pythonName;return{commands:[{commandType:"absorbanceReader/closeLid",key:$(),params:{moduleId:s}}],python:`${p}.close_lid()`}},D_=(e,t,r)=>{const{sampleWavelengths:n,measureMode:a,referenceWavelength:o}=e,{runtimeParameters:s}=t,i=v(e.moduleId,s),l=v(a,s),u=l==="single"||l==="multi"?l:null,p=n.map(b=>U(b,s)),d=o==null?void 0:U(o,s),f=[e.moduleId,a,...n,o],m=[i,u,...p,d],h=f.flatMap((b,w)=>typeof b=="string"&&m[w]===null?[C({parameterName:b})]:[]);if(h.length>0||i==null||u==null)return{errors:h};const _=t.moduleEntities[i].pythonName,y=s[a]!=null?a:F(a),T=o!=null?`, reference_wavelength=${o}`:"";return{commands:[{commandType:"absorbanceReader/initialize",key:$(),params:{moduleId:i,measureMode:u,sampleWavelengths:p,...d!=null?{referenceWavelength:d}:{}}}],python:`${_}.initialize(${y}, [${n.join(", ")}]${T})`}},M_=(e,t,r)=>{const{gripperEntities:n,moduleEntities:a,runtimeParameters:o}=t,s=v(e.moduleId,o);if(s==null)return{errors:[C({parameterName:e.moduleId})]};const i=Xn(r,s),l=Object.keys(n).length>0,u=[];if(i==null&&u.push(pe()),l||u.push($h()),u.length>0)return{errors:u};const p=a[s].pythonName;return{commands:[{commandType:"absorbanceReader/openLid",key:$(),params:{moduleId:s}}],python:`${p}.open_lid()`}},F_=(e,t,r)=>{const{fileName:n}=e,{runtimeParameters:a}=t,o=v(e.moduleId,a),s=n==null?void 0:v(n,a),i=[];if(o==null&&i.push(C({parameterName:e.moduleId})),n!=null&&s==null&&i.push(C({parameterName:n})),o==null||i.length>0)return{errors:i};const l=Xn(r,o);if(l==null)return{errors:[pe()]};l.initialization===null&&i.push(qr());const u=t.moduleEntities[o].pythonName,p=n==null||a[n]!=null?n:F(n),d=p!=null?`export_filename=${p}`:"";return i.length>0?{errors:i}:{commands:[{commandType:"absorbanceReader/read",key:$(),params:{moduleId:o,...s!=null?{fileName:s}:{}}}],python:`${u}.read(${d})`}},vt=(e,t,r)=>{const{flowRate:n,pipetteId:a,volume:o,correctionVolume:s}=e,i=[];t.pipetteEntities[a]?.spec||i.push(mt({pipette:a}));const u=t.pipetteEntities[a].pythonName;return{commands:[{commandType:"airGapInPlace",key:$(),params:{flowRate:n,pipetteId:a,volume:o,...s!=null?{correctionVolume:s}:{}}}],python:`${u}.air_gap(${[`volume=${o}`,"in_place=True",`flow_rate=${n}`].join(", ")})`}},ww=(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,_=[],y=t.pipetteEntities[n]?.spec,T=(y?.displayCategory==="FLEX"||y?.channels===96)??!1,b=jn(o,r.labware);if(y||_.push(mt({pipette:n})),!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}))}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}));const w=t.pipetteEntities[n]?.spec.channels!==1,S=_t({robotState:r,invariantContext:t,pipetteId:n,labwareId:o,wellLocationOffset:p?.offset??{x:0,y:0,z:0},wellTargetName:s,primaryNozzle:d,nozzleConfiguration:f});if(w&&y&&!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&&y&&y.liquids.default.maxVolume<a&&_.push(ho({actionName:m,volume:a,maxVolume:y.liquids.default.maxVolume})),_.length===0&&y){const O=Go(n,t,u);O<a&&_.push(nT({actionName:m,volume:a,maxVolume:O}))}if(_.length>0)return{errors:_};const g=[{commandType:"aspirate",key:$(),params:{pipetteId:n,volume:a,labwareId:o,wellName:s,wellLocation:p,flowRate:i},...l&&{meta:{isAirGap:l}}}],L=t.pipetteEntities[n].pythonName,I=t.labwareEntities[o].pythonName,A=[`volume=${a}`,`location=${I}[${F(s)}]${zt(p)}`,`flow_rate=${i}`],E=`${L}.aspirate(
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const c=require("@opentrons/shared-data");function nI(){return{type:"INSUFFICIENT_TIPS",message:"Not enough tips to complete action"}}function oI(){return{type:"MISSING_96_CHANNEL_TIPRACK_ADAPTER",message:"A 96-channel cannot pick up tips fully without an adapter"}}function aI(){return{type:"REMOVE_96_CHANNEL_TIPRACK_ADAPTER",message:"A 96-channel cannot pick up tips partially with an adapter"}}function Yt(e){const{actionName:t,pipette:r,labware:n,well:o}=e;return{message:n==null||o==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 ${o}`,type:"NO_TIP_ON_PIPETTE"}}function sI(){return{message:"One or more of the pipettes has a tip",type:"PIPETTE_HAS_TIP"}}function ht(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 _t(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 ${r}. Add the labware to your protocol or change the step to use a different labware.`,type:"LABWARE_DOES_NOT_EXIST"}}function de(){return{message:"This step requires a module, but none is selected",type:"MISSING_MODULE"}}function iI(){return{message:"This module is not changing temperature because it has either been deactivated or is already holding a temperature. 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+)`;return{commands:L,python:E}},Ho=(e,t,r)=>{const{runtimeParameters:n}=t,o=O(e.pipetteId,n),a=D(e.volume,n),s=D(e.flowRate,n),i=e.correctionVolume==null?void 0:D(e.correctionVolume,n),l=[e.pipetteId,e.volume,e.flowRate,e.correctionVolume],u=[o,a,s,i],p=l.flatMap((m,h)=>typeof m=="string"&&u[h]==null?[C({parameterName:m})]:[]);if(p.length>0||o==null||a==null||s==null)return{errors:p};if(r.tipState.pipettes[o]?.hasTip||p.push(Yt({actionName:"aspirate",pipette:o})),p.length>0)return{errors:p};const d=t.pipetteEntities[o].pythonName,f=[`volume=${e.volume}`,`flow_rate=${e.flowRate}`];return{commands:[{commandType:"aspirateInPlace",key:U(),params:{pipetteId:o,volume:a,flowRate:s,...i!=null?{correctionVolume:i}:{}}}],python:`${d}.aspirate(${f.join(", ")})`}},xn=(e,t,r)=>{const{runtimeParameters:n}=t,o=O(e.pipetteId,n),a=D(e.flowRate,n),s=[e.pipetteId,e.flowRate],i=[o,a],l=s.flatMap((p,d)=>typeof p=="string"&&i[d]==null?[C({parameterName:p})]:[]);if(l.length>0||o==null||a==null)return{errors:l};if(r.tipState.pipettes[o]?.hasTip||l.push(Yt({actionName:"blowout",pipette:o})),l.length>0)return{errors:l};const u=t.pipetteEntities[o].pythonName;return{commands:[{commandType:"blowOutInPlace",key:U(),params:{pipetteId:o,flowRate:a}}],python:`${u}.flow_rate.blow_out = ${e.flowRate}
+${u}.blow_out()`}},xc=(e,t,r)=>{const{pipetteEntities:n,labwareEntities:o,runtimeParameters:a}=t,s=O(e.pipetteId,a),i=O(e.labwareId,a),l=O(e.wellName,a),u=D(e.flowRate,a),p=Dn(e.wellLocation,a),d=[e.pipetteId,e.labwareId,e.wellName,e.flowRate],f=[s,i,l,u],m=[...d.flatMap((M,F)=>typeof M=="string"&&f[F]==null?[C({parameterName:M})]:[]),...p.invalidParameterNames.map(M=>C({parameterName:M}))];if(m.length>0||s==null||i==null||l==null||u==null)return{errors:m};const h=p.location,_=n[s],y="blowout",I=[],b=_?.spec,w=(b?.displayCategory==="FLEX"||b?.channels===96)??!1,S=r.pipettes[s],L=r.labware,g=Wn(i,r.labware);if(S||I.push(ht({pipette:s})),b==null&&I.push(ht({pipette:s})),r.tipState.pipettes[s]?.hasTip||I.push(Yt({actionName:y,pipette:s,labware:i,well:l})),!i||!r.labware[i]?I.push(_t({actionName:y,labware:i})):ee(r.labware[i].stack)==="offDeck"&&I.push(Rn()),De.includes(g))I.push(Wt({typeOfStep:y}));else if(L[g]!=null){const M=ee(L[g].stack);De.includes(M)&&I.push(Wt({typeOfStep:y}))}if(Yn({pipette:s,labware:i,invariantContext:t,prevRobotState:r})&&I.push(Ro()),Xo(r.modules,r.labware,i)&&I.push(vn()),Yo(r.modules,r.labware,i)&&I.push(xr()),ea(r.modules,r.labware,i)&&I.push(Ea()),ta(r.modules,r.labware,i)&&I.push(Pn()),Xn(r.modules,g,w?c.FLEX_ROBOT_TYPE:c.OT2_ROBOT_TYPE)&&I.push(ko()),!w&&b!=null&&(Kn(r.modules,g)&&I.push(No()),Zn(r.modules,g,b)&&I.push(Co()),Jo(r.modules,g,b,t.labwareEntities[i])&&I.push(Aa())),I.length>0)return{errors:I};const T=_.pythonName,A=o[i].pythonName,E=a[e.wellName]!=null?e.wellName:q(l),v=Gt(e.wellLocation==null?void 0:{origin:h?.origin,offset:e.wellLocation.offset});return{commands:[{commandType:"blowout",key:U(),params:{pipetteId:s,labwareId:i,wellName:l,flowRate:u,wellLocation:h}}],python:`${T}.flow_rate.blow_out = ${e.flowRate}
+${T}.blow_out(${A}[${E}]${v})`}},q_=(e,t,r)=>{const{runtimeParameters:n}=t,{resolution:o}=e,a=je(e.homeBefore,n),s=O(e.fileName,n),i=D(o[0],n),l=D(o[1],n),u=D(e.zoom,n),p=D(e.contrast,n),d=D(e.brightness,n),f=D(e.saturation,n),m=[e.homeBefore,e.fileName,o[0],o[1],e.zoom,e.contrast,e.brightness,e.saturation],h=[a,s,i,l,u,p,d,f],_=m.flatMap((w,S)=>typeof w=="string"&&h[S]==null?[C({parameterName:w})]:[]);if(_.length>0||a==null||s==null||i==null||l==null||u==null||p==null||d==null||f==null)return{errors:_};const y={commandType:"captureImage",key:U(),params:{homeBefore:a,fileName:s,resolution:[i,l],zoom:u,contrast:p,brightness:d,saturation:f}},I=[`home_before=${Je(e.homeBefore)}`,`filename=${Nt(e.fileName,s,n)}`,`resolution=(${Je(o[0])}, ${Je(o[1])})`,`zoom=${Je(e.zoom)}`,`contrast=${Je(e.contrast)}`,`brightness=${Je(e.brightness)}`,`saturation=${Je(e.saturation)}`],b=`${ge}.capture_image(${I.join(", ")})`;return{commands:[y],python:b}},V_=(e,t,r)=>{const{message:n}=e,o=t.runtimeParameters??{},a=O(n,o);if(a==null)return{errors:[C({parameterName:n})]};const s=[{commandType:"comment",key:U(),params:{message:a}}],i=`${ge}.comment(${Nt(n,a,o)})`;return{commands:s,python:i}},kn=(e,t,r)=>{const{pipetteId:n,volume:o}=e,{runtimeParameters:a}=t,s=O(n,a),i=D(o,a),l=[];if(s==null&&l.push(C({parameterName:n})),typeof o=="string"&&i==null&&l.push(C({parameterName:o})),s==null||i==null)return{errors:l};const u=t.pipetteEntities[s];return u==null?{commands:[]}:{commands:[{commandType:"configureForVolume",key:U(),params:{pipetteId:s,volume:i}}],python:`${u.pythonName}.configure_for_volume(${o})`}},B_=(e,t,r)=>{const{pipetteId:n,configurationParams:o}=e,{style:a,primaryNozzle:s,backLeftNozzle:i}=o,{runtimeParameters:l}=t,u=O(n,l),p=Ht(a,La,l),d=s==null?void 0:Ht(s,Oa,l),f=i==null?void 0:Ht(i,d_,l),m=[];if(u==null&&m.push(C({parameterName:n})),p==null&&m.push(C({parameterName:a})),s!=null&&d==null&&m.push(C({parameterName:s})),i!=null&&f==null&&m.push(C({parameterName:i})),u==null||p==null||s!=null&&d==null||i!=null&&f==null)return{errors:m};const h=t.pipetteEntities[u].pythonName;let _=`protocol_api.${p}`;l[a]!=null&&(_=a);const y=[_];if(s!=null&&d!=null){const b=Nt(s,d,l);p===c.PARTIAL_COLUMN?y.push(`start=${q(c.H1_NOZZLE)}, end=${b}`):y.push(`start=${b}`)}i!=null&&f!=null&&y.push(`back_left=${Nt(i,f,l)}`);const I={style:p,...d!=null?{primaryNozzle:d}:{},...f!=null?{backLeftNozzle:f}:{}};return{commands:[{commandType:"configureNozzleLayout",key:U(),params:{pipetteId:u,configurationParams:I}}],python:`${h}.configure_nozzle_layout(
 ${Q(y.join(`,
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-)`}},V_=(e,t,r)=>{const{runtimeParameters:n}=t,a=v(e.moduleId,n);if(e.moduleId!=null&&a==null)return{errors:[C({parameterName:e.moduleId})]};if(a===null)return{errors:[pe()]};const o=t.moduleEntities[a],s=o?.type,i=o?.pythonName,l={moduleId:a};return s===c.TEMPERATURE_MODULE_TYPE?{commands:[{commandType:"temperatureModule/deactivate",key:$(),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=`${L}.dispense(
+)`}},x_=(e,t,r)=>{const{runtimeParameters:n}=t,o=O(e.moduleId,n);if(e.moduleId!=null&&o==null)return{errors:[C({parameterName:e.moduleId})]};if(o===null)return{errors:[de()]};const a=t.moduleEntities[o],s=a?.type,i=a?.pythonName,l={moduleId:o};return s===c.TEMPERATURE_MODULE_TYPE?{commands:[{commandType:"temperatureModule/deactivate",key:U(),params:l}],python:`${i}.deactivate()`}:s===c.THERMOCYCLER_MODULE_TYPE?{commands:[{commandType:"thermocycler/deactivateLid",key:U(),params:l},{commandType:"thermocycler/deactivateBlock",key:U(),params:l}],python:`${i}.deactivate_lid()
+${i}.deactivate_block()`}:s===c.HEATERSHAKER_MODULE_TYPE?{commands:[{commandType:"heaterShaker/deactivateHeater",key:U(),params:l}],python:`${i}.deactivate_heater()`}:(console.error(`setTemperature expected module ${o} to be ${c.TEMPERATURE_MODULE_TYPE}, ${c.THERMOCYCLER_MODULE_TYPE} or ${c.HEATERSHAKER_MODULE_TYPE}, got ${s}`),{errors:[de()]})},Ie=(e,t,r)=>{const{message:n}=e,o=t.runtimeParameters??{},a=n==null?void 0:O(n,o),s=[];n!=null&&a==null&&s.push(C({parameterName:n}));let i,l;if("seconds"in e){const u=D(e.seconds,o);if(typeof e.seconds=="string"&&u==null&&s.push(C({parameterName:e.seconds})),s.length>0||u==null)return{errors:s};i={commandType:"waitForDuration",key:U(),params:{seconds:u,message:a??void 0}};const p=[`seconds=${e.seconds}`,...n&&a!=null?[`msg=${Nt(n,a,o)}`]:[]];l=`${ge}.delay(${p.join(", ")})`}else{if(s.length>0)return{errors:s};i={commandType:"waitForResume",key:U(),params:{message:a??void 0}};const u=n&&a!=null?Nt(n,a,o):"";l=`${ge}.pause(${u})`}return{commands:[i],python:l}},z_=(e,t,r)=>{const{moduleEntities:n,runtimeParameters:o}=t,a=O(e.moduleId,o);if(a==null)return console.error(`disengageMagnet: arg resolved to null (moduleId=${String(a)})`),{errors:[C({parameterName:e.moduleId})]};if(n[a]?.type!==c.MAGNETIC_MODULE_TYPE)throw new Error(`expected module ${a} to be magdeck, got ${n[a]?.type}`);const s=n[a].pythonName;return{commands:[{commandType:"magneticModule/disengage",key:U(),params:{moduleId:a}}],python:`${s}.disengage()`}},zc=(e,t,r)=>{const{pipetteId:n,volume:o,labwareId:a,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,I=(y?.displayCategory==="FLEX"||y?.channels===96)??!1,b=Wn(a,r.labware);if(y||_.push(ht({pipette:n})),Yn({pipette:n,labware:a,invariantContext:t,prevRobotState:r})&&_.push(Ro()),r.tipState.pipettes[n]?.hasTip||_.push(Yt({actionName:m,pipette:n,labware:a,well:s})),!a||!r.labware[a]?_.push(_t({actionName:m,labware:a})):ee(r.labware[a].stack)==="offDeck"&&_.push(Rn()),De.includes(b))_.push(Wt({typeOfStep:m}));else if(h[b]!=null){const v=ee(h[b].stack);De.includes(v)&&_.push(Wt({typeOfStep:m}))}const w=t.pipetteEntities[n]?.spec.channels!==1,S=bt({robotState:r,invariantContext:t,pipetteId:n,labwareId:a,wellLocationOffset:u?.offset??{x:0,y:0,z:0},wellTargetName:s,primaryNozzle:d,nozzleConfiguration:f});if(w&&!S.isSafe&&_.push(jt({unsafePipetteMovementReason:S.reason})),Xo(r.modules,r.labware,a)&&_.push(vn()),Yo(r.modules,r.labware,a)&&_.push(xr()),ea(r.modules,r.labware,a)&&_.push(Ea()),ta(r.modules,r.labware,a)&&_.push(Pn()),Xn(r.modules,b,I?c.FLEX_ROBOT_TYPE:c.OT2_ROBOT_TYPE)&&_.push(ko()),I||(Kn(r.modules,b)&&_.push(No()),Zn(r.modules,b,y)&&_.push(Co()),Jo(r.modules,b,y,t.labwareEntities[a])&&_.push(Aa())),_.length>0)return{errors:_};const L=[{commandType:"dispense",key:U(),params:{pipetteId:n,volume:o,labwareId:a,wellName:s,wellLocation:u,flowRate:i,...p!=null?{pushOut:p}:{}},...l&&{meta:{isAirGap:l}}}],g=t.pipetteEntities[n].pythonName,T=t.labwareEntities[a].pythonName,A=[`volume=${o}`,`location=${T}[${q(s)}]${Gt(u)}`,`flow_rate=${i}`,...p!=null?[`push_out=${p}`]:[]],E=`${g}.dispense(
 ${Q(A.join(`,
 `))},
-)`;return{commands:g,python:E}},Je=(e,t,r)=>{const{isAirGap:n}=e,{runtimeParameters:a}=t,o=v(e.pipetteId,a),s=U(e.volume,a),i=U(e.flowRate,a),l=e.pushOut==null?void 0:U(e.pushOut,a),u=e.correctionVolume==null?void 0:U(e.correctionVolume,a),p=[e.pipetteId,e.volume,e.flowRate,e.pushOut,e.correctionVolume],d=[o,s,i,l,u],f=p.flatMap((_,y)=>typeof _=="string"&&d[y]==null?[C({parameterName:_})]:[]);if(f.length>0||o==null||s==null||i==null)return{errors:f};if(r.tipState.pipettes[o]?.hasTip||f.push(jt({actionName:"dispense",pipette:o})),f.length>0)return{errors:f};const m=t.pipetteEntities[o].pythonName,h=[`volume=${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(`,
-`),h=d.length<4?d.join(", "):`
-${m}
-`;if(l!=null&&l.storedLabwareDetails===null&&l.labwareInHopper==null)return{errors:[cT()]};if(u){if(o.length>0&&!o.every(b=>np(b,t,l)))return{errors:[qh()]}}else return{errors:[Vh()]};const y=[...o.filter(T=>!c.getIsLid(s[T].def)).length>0?`labware=[${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")}: ${g.holdSeconds}},`).join(`
-`),b=`${`[
-${Q(y)}
+)`;return{commands:L,python:E}},tt=(e,t,r)=>{const{runtimeParameters:n}=t,o=e.isAirGap==null?void 0:je(e.isAirGap,n),a=O(e.pipetteId,n),s=D(e.volume,n),i=D(e.flowRate,n),l=e.pushOut==null?void 0:D(e.pushOut,n),u=e.correctionVolume==null?void 0:D(e.correctionVolume,n),p=[e.pipetteId,e.volume,e.flowRate,e.pushOut,e.correctionVolume,e.isAirGap],d=[a,s,i,l,u,o],f=p.flatMap((_,y)=>typeof _=="string"&&d[y]==null?[C({parameterName:_})]:[]);if(f.length>0||a==null||s==null||i==null)return{errors:f};if(r.tipState.pipettes[a]?.hasTip||f.push(Yt({actionName:"dispense",pipette:a})),f.length>0)return{errors:f};const m=t.pipetteEntities[a].pythonName,h=[`volume=${e.volume}`,`flow_rate=${e.flowRate}`,...e.pushOut!=null?[`push_out=${e.pushOut}`]:[]];return{commands:[{commandType:"dispenseInPlace",key:U(),params:{pipetteId:a,volume:s,flowRate:i,...l!=null?{pushOut:l}:{},...u!=null?{correctionVolume:u}:{}},...o?{meta:{isAirGap:o}}:{}}],python:`${m}.dispense(${h.join(", ")})`}},Zr=(e,t,r)=>{const{runtimeParameters:n}=t,o=e.isReturnTip==null?void 0:je(e.isReturnTip,n),a=O(e.pipette,n),s=e.dropTipLocation==null?void 0:O(e.dropTipLocation,n),i=e.wellName==null?void 0:O(e.wellName,n),l=[e.pipette,e.dropTipLocation,e.wellName,e.isReturnTip],u=[a,s,i,o],p=l.flatMap((I,b)=>typeof I=="string"&&u[b]==null?[C({parameterName:I})]:[]);if(p.length>0||a==null)return{errors:p};if(!r.tipState.pipettes[a]?.hasTip)return{commands:[]};const d=r.pipettes[a].tiprackId,f=r.pipettes[a].tipWell,m=Object.values(t.labwareEntities).find(({id:I})=>I===d),h=m!=null&&f!=null;if(o&&!h)return{errors:[Lp()]};let _=null;if(o&&h){const I=t.pipetteEntities[a].pythonName,w=`${m.pythonName}["${f}"]`;_=`${I}.drop_tip(location=${w})`}let y=[];if(o){if(d==null||f==null)return{errors:[Lp()]};y=[{commandType:"dropTip",key:U(),params:{pipetteId:a,labwareId:d,wellName:f}}]}else{if(s==null||i==null)return{errors:[Fn()]};y=[{commandType:"dropTip",key:U(),params:{pipetteId:a,labwareId:s,wellName:i}}]}return{commands:y,..._!=null?{python:_}:{}}},qa=(e,t,r)=>{const{runtimeParameters:n}=t,o=O(e.pipetteId,n),a=e.homeAfter==null?void 0:je(e.homeAfter,n),s=[e.pipetteId,e.homeAfter],i=[o,a],l=s.flatMap((b,w)=>typeof b=="string"&&i[w]==null?[C({parameterName:b})]:[]);if(l.length>0||o==null)return{errors:l};if(!r.tipState.pipettes[o]?.hasTip)return{commands:[]};const{pipetteEntities:u,trashBinEntities:p,wasteChuteEntities:d}=t,f=u[o].pythonName,m=r.pipettes[o]?.entityId??"",h=p[m],_=d[m],y=[h!=null?`${h.pythonName}, alternate_drop_location=True`:_?.pythonName,...e.homeAfter!=null?[`home_after=${Je(e.homeAfter)}`]:[]].filter(Boolean).join(", ");return{commands:[{commandType:"dropTipInPlace",key:U(),params:{pipetteId:o,...a!=null?{homeAfter:a}:{}}}],python:`${f}.drop_tip(${y})`}},H_=(e,t,r)=>{const{moduleEntities:n,runtimeParameters:o}=t,a=O(e.moduleId,o),s=D(e.height,o),i=[];if(a==null&&i.push(C({parameterName:e.moduleId})),typeof e.height=="string"&&s==null&&i.push(C({parameterName:e.height})),i.length>0||a==null||s==null)return console.error(`engageMagnet: arg resolved to null (moduleId=${String(a)}, height=${String(s)})`),{errors:i};if(n[a]?.type!==c.MAGNETIC_MODULE_TYPE)throw new Error(`expected module ${a} to be magdeck, got ${n[a]?.type}`);const l=n[a].pythonName;return{commands:[{commandType:"magneticModule/engage",key:U(),params:{moduleId:a,height:s}}],python:`${l}.engage(height_from_base=${e.height})`}},Ow=["manualWithPause","logical"],j_=(e,t,r)=>{const{strategy:n,message:o,count:a}=e,{moduleEntities:s,runtimeParameters:i}=t,l=O(e.moduleId,i),u=Ht(n,Ow,i),p=o==null?void 0:O(o,i),d=a==null?void 0:D(a,i),f=[e.moduleId,n,o,a],m=[l,u,p,d],h=f.flatMap((b,w)=>typeof b=="string"&&m[w]==null?[C({parameterName:b})]:[]);if(h.length>0||l==null||u==null||p===null||d===null)return{errors:h};const _=It(r,l);if(s[l]==null||_==null)return{errors:[de()]};const y=s[l].pythonName,I=o&&p!=null?`message=${Nt(o,p,i)}`:"";return{commands:[{commandType:"flexStacker/empty",key:U(),params:{moduleId:l,strategy:u,message:p,count:d}}],python:`${y}.empty(${I})`}},W_=(e,t,r)=>{const{interventionMessage:n,fillLabwareIds:o}=e,{labwareEntities:a,moduleEntities:s,runtimeParameters:i}=t,l=O(e.moduleId,i),u=o.map(g=>O(g,i)),p=n==null?null:O(n,i),d=[];if(l==null&&d.push(C({parameterName:e.moduleId})),o.forEach((g,T)=>{u[T]==null&&d.push(C({parameterName:g}))}),n!=null&&p==null&&d.push(C({parameterName:n})),d.length>0||l==null)return{errors:d};const f=u.filter(g=>g!=null);if(s[l]==null)return{errors:[de()]};const m=It(r,l),h=ap(m,t.labwareEntities),_=s[l].pythonName,y=f.filter(g=>!c.getIsLid(a[g].def)).map(g=>a[g]?.pythonName),b=Ba(y,4).map(g=>Wo+g.join(", ")).join(`,
+`),w=y.length<4?y.join(", "):`
+${b}
+`;if(m!=null&&m.storedLabwareDetails===null&&m.labwareInHopper==null)return{errors:[hI()]};if(h){if(f.length>0&&!f.every(T=>op(T,t,m)))return{errors:[Bh()]}}else return{errors:[xh()]};const L=[...f.filter(g=>!c.getIsLid(a[g].def)).length>0?`labware=[${w}],
+`:[],...n!=null&&p!=null?[`message=${Nt(n,p,i)},
+`]:[]].join("");return{commands:[{commandType:"flexStacker/fillItems",key:U(),params:{moduleId:l,labware:f,message:p??void 0}}],python:`${_}.fill_items(
+${Q(L)})`}},G_=(e,t,r)=>{const{moduleEntities:n,runtimeParameters:o}=t,a=O(e.moduleId,o);if(a==null)return{errors:[C({parameterName:e.moduleId})]};if(n[a]==null)return{errors:[de()]};const s=n[a].pythonName,i=It(r,a),l=i?.labwareInHopper!=null&&i.labwareInHopper.length>0;return i!==null&&np(i)?{errors:[fI()]}:l?{commands:[{commandType:"flexStacker/retrieve",key:U(),params:{moduleId:a}}],python:`${s}.retrieve()`}:{errors:[dI()]}},Y_=(e,t,r)=>{const{labwareEntities:n,moduleEntities:o,runtimeParameters:a}=t,s=O(e.moduleId,a);if(s==null)return{errors:[C({parameterName:e.moduleId})]};if(o[s]==null)return{errors:[de()]};const i=o[s].pythonName,l=It(r,s),u=l?.labwareOnShuttle?.primaryLabwareId??null,p=ap(l,n);return l!==null&&!np(l)?{errors:[mI()]}:u!==null&&!op(u,t,l)?{errors:[Bh()]}:p?{commands:[{commandType:"flexStacker/store",key:U(),params:{moduleId:s,strategy:"automatic"}}],python:`${i}.store()`}:{errors:[xh()]}};function Cl(){return{type:"ASPIRATE_MORE_THAN_WELL_CONTENTS",message:"Not enough liquid"}}function Dl(){return{type:"ASPIRATE_FROM_PRISTINE_WELL",message:"This step tries to aspirate from an empty well."}}function vw(){return{type:"LABWARE_IN_WASTE_CHUTE_HAS_LIQUID",message:"Disposing of a labware with liquid"}}function Pw(){return{type:"TIPRACK_IN_WASTE_CHUTE_HAS_TIPS",message:"Disposing unused tips"}}function Rw(){return{type:"TEMPERATURE_IS_POTENTIALLY_UNREACHABLE",message:"The module set temperature is potentially unreachable."}}function Nw(){return{type:"WAITING_FOR_NONEXISTENT_TASK",message:"This step is waiting for a task that was never started."}}const kw="opentrons_flex_tiprack_lid",K_=(e,t,r)=>{const{gripperEntities:n,trashBinEntities:o,wasteChuteEntities:a,labwareEntities:s,moduleEntities:i,runtimeParameters:l}=t,u=O(e.labwareId,l),p=O(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 k=O(e.newLocation,l);k==null?d.push(C({parameterName:e.newLocation})):f=k}else if("labwareId"in e.newLocation){const k=O(e.newLocation.labwareId,l);k==null?d.push(C({parameterName:e.newLocation.labwareId})):f={labwareId:k}}else if("moduleId"in e.newLocation){const k=O(e.newLocation.moduleId,l);k==null?d.push(C({parameterName:e.newLocation.moduleId})):f={moduleId:k}}else if("slotName"in e.newLocation){const k=O(e.newLocation.slotName,l);k==null?d.push(C({parameterName:e.newLocation.slotName})):f={slotName:k}}else{const k=O(e.newLocation.addressableAreaName,l);k==null?d.push(C({parameterName:e.newLocation.addressableAreaName})):f={addressableAreaName:k}}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(a).length>0,y=r.tipState!=null?gy(r.tipState,u):!1,I=r.liquidState!=null?Ey(r.liquidState,u):!1,b=Object.values(r.tipState.pipettes).some(({hasTip:k})=>k),w="moveToLabware",S=[],L=c.locationIsOnAddressableArea(f)&&f.addressableAreaName==="gripperWasteChute";!u||!r.labware[u]?d.push(_t({actionName:w,labware:u})):ee(r.labware[u].stack)==="offDeck"&&m?d.push(Rn()):r.labware[u].stack.includes(rt)&&d.push(NI());const g=s[u]?.def.metadata.displayCategory==="aluminumBlock";m&&g&&d.push(II()),(L&&h&&!m||!h&&m)&&d.push(bI()),b&&m&&d.push(sI());const T=r.labware[u]!=null?ee(r.labware[u].stack):null;(_&&T==="gripperWasteChute"||c.MOVABLE_TRASH_ADDRESSABLE_AREAS.includes(T)||T==="fixedTrash")&&d.push(Do());const A=T!=null&&r.labware[T]!=null?ee(r.labware[T].stack):null,E=A??T,v=k=>k==null?null:k in r.modules?r.modules[k].moduleState:Object.values(r.modules).find(({slot:B})=>B===k)?.moduleState??null,R=Object.entries(r.labware).filter(([k,B])=>B.stack.includes("offDeck")).map(([k])=>k),M=Object.values(f);R.some(k=>M.includes(k))&&m&&d.push(uI());const F=v(E);F!=null&&(F.type===c.THERMOCYCLER_MODULE_TYPE&&F.lidOpen!==!0?d.push(vn()):F.type===c.HEATERSHAKER_MODULE_TYPE?F.latchOpen!==!0?d.push(Ap()):F.targetSpeed!==null&&d.push(Pn()):F.type===c.ABSORBANCE_READER_TYPE&&F.lidOpen!==!0?d.push(xr()):F.type===c.VACUUM_MODULE_TYPE&&F.currentPumpActivity.type!=="pumpDeactivated"&&d.push(Op()));const G=c.locationIsOnModule(f)&&"moduleId"in f?f.moduleId:null,Y=c.locationIsOnLabware(f)?f.labwareId:null,oe=Y!=null?r.labware[Y].stack[1]:null,fe=oe??G;f==="offDeck"&&m&&d.push(Rn()),y&&L&&_?S.push(Pw()):I&&L&&_&&S.push(vw());const J=v(fe);J!=null&&(J.type===c.THERMOCYCLER_MODULE_TYPE&&J.lidOpen!==!0?d.push(vn()):J.type===c.HEATERSHAKER_MODULE_TYPE?(J.latchOpen!==!0&&d.push(Ap()),J.targetSpeed!==null&&d.push(Pn())):J.type===c.ABSORBANCE_READER_TYPE?J.lidOpen!==!0&&d.push(xr()):J.type===c.VACUUM_MODULE_TYPE&&J.currentPumpActivity.type!=="pumpDeactivated"&&d.push(Op())),s[u]?.def.parameters.loadName===kw&&f!=null&&c.locationIsOnDeck(f)&&("slotName"in f||"addressableAreaName"in f&&c.FLEX_STAGING_AREA_SLOT_ADDRESSABLE_AREAS.includes(f.addressableAreaName))&&d.push(LI());const Ve={labwareId:u,strategy:p,newLocation:f},Me=[{commandType:"moveLabware",key:U(),params:Ve}],We=s[u]?.pythonName;let ie="",Ne=null;if(f==="offDeck")ie=Cn;else if(f==="systemLocation")ie="system_location";else if(f==="wasteChuteLocation")ie=Cn;else if("labwareId"in f){ie=s[f.labwareId].pythonName;const k=r.labware[f.labwareId].stack;Ne=k[k.length-1]}else if("moduleId"in f)Ne=r.modules[f.moduleId].slot,ie=i[f.moduleId].pythonName;else if("slotName"in f){const{slotName:k}=f;if(k in s){const B=ee(r.labware[k].stack);ie=c.getIsLid(s[k].def)?q(B):s[k].pythonName;const re=r.labware[k].stack;Ne=re[re.length-1]}else{const B=typeof e.newLocation=="object"&&"slotName"in e.newLocation?e.newLocation.slotName:k;ie=l[B]!=null?B:q(k),Ne=k}}else if("addressableAreaName"in f){const k=De.includes(f.addressableAreaName),B=c.WASTE_CHUTE_ADDRESSABLE_AREAS.includes(f.addressableAreaName),$=f.addressableAreaName==="fixedTrash",V=c.MOVABLE_TRASH_ADDRESSABLE_AREAS.includes(f.addressableAreaName)||$?Object.values(o)?.map(z=>z.location):[],Z=!B&&!k&&!Ao(f.addressableAreaName)?hy(f.addressableAreaName,$?"fixedTrashSlot":"trashBinAdapter",$?c.OT2_ROBOT_TYPE:c.FLEX_ROBOT_TYPE):null,W=V.find(z=>z===Z),x=W!=null?Object.values(o).find(z=>z.location===W)?.id:null;if(k){const z=typeof e.newLocation=="object"&&"addressableAreaName"in e.newLocation?e.newLocation.addressableAreaName:f.addressableAreaName;ie=l[z]!=null?z:q(f.addressableAreaName)}else if(x!=null&&!B)ie=o[x]?.pythonName??"";else if(x==null&&B)ie=Object.values(a)[0]?.pythonName??"";else if(Ao(f.addressableAreaName)){const[z]=Object.entries(r.modules).find(([,le])=>le.moduleState.type===c.VACUUM_MODULE_TYPE)??[];if(z!=null&&i[z]!=null){const{pythonName:le}=i[z];ie=`${le}.manifold_dock`}}else ie=""}if(Ne!=null){const k=go({slot:Ne,labwareState:r.labware,modulesState:r.modules}),B=ee(k),{isCompatible:$,isAboveStackLimit:re}=vy(u,k,s,i);$||d.push(yI()),re&&d.push(vI({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),ae=r.labware[u].stack;let K="";if(Ae){const k=Ay(ae);if(k==null)console.error("expected to find a parent for labware to move but could not");else{const B=s[k]!=null,$=B&&c.getIsLid(s[k].def);ae.length===2||B&&$?K=q(ee(ae)):(B||!c.getIsLid(s[k].def))&&(K=s[k].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})`:`${ge}.move_labware(${We}, ${ie}${Be})`;return{commands:Me,...S.length>0?{warnings:S}:{},python:j}},qe=(e,t,r)=>{const{offset:n}=e,{pipetteEntities:o,trashBinEntities:a,wasteChuteEntities:s,runtimeParameters:i}=t,l=O(e.pipetteId,i),u=O(e.fixtureId,i),p=D(n.x,i),d=D(n.y,i),f=D(n.z,i),m=[];if(l==null&&m.push(C({parameterName:e.pipetteId})),u==null&&m.push(C({parameterName:e.fixtureId})),typeof n.x=="string"&&p==null&&m.push(C({parameterName:n.x})),typeof n.y=="string"&&d==null&&m.push(C({parameterName:n.y})),typeof n.z=="string"&&f==null&&m.push(C({parameterName:n.z})),m.length>0||l==null||u==null||p==null||d==null||f==null)return{errors:m};const h=o[l],_=h.spec.channels,y=h.pythonName,I=a[u]??s[u],b=I.pythonName;let w=_y(_);return a[u]!=null&&(w=Qc(I.location)),{commands:[{commandType:"moveToAddressableArea",key:U(),params:{pipetteId:l,addressableAreaName:w,offset:{x:p,y:d,z:f}}}],python:`${y}.move_to(${b})`}},Hc=(e,t,r)=>{const{runtimeParameters:n}=t,o=e.offset??{x:0,y:0,z:0},a=O(e.pipetteId,n),s=O(e.addressableAreaName,n),i=D(o.x,n),l=D(o.y,n),u=D(o.z,n),p=je(e.alternateDropLocation??!0,n),d=e.speed==null?void 0:D(e.speed,n),f=e.minimumZHeight==null?void 0:D(e.minimumZHeight,n),m=e.forceDirect==null?void 0:je(e.forceDirect,n),h=e.ignoreTipConfiguration==null?void 0:je(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=[a,s,i,l,u,p,d,f,m,h],I=_.flatMap((b,w)=>typeof b=="string"&&y[w]==null?[C({parameterName:b})]:[]);return I.length>0||a==null||s==null||i==null||l==null||u==null||p==null?{errors:I}:{commands:[{commandType:"moveToAddressableAreaForDropTip",key:U(),params:{pipetteId:a,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}:{}}}]}},H=(e,t,r)=>{const{pipetteEntities:n,labwareEntities:o,runtimeParameters:a}=t,s=O(e.pipetteId,a),i=O(e.labwareId,a),l=O(e.wellName,a),u=e.wellLocation?.origin==null?void 0:O(e.wellLocation.origin,a),p=e.wellLocation?.offset?.x==null?void 0:D(e.wellLocation.offset.x,a),d=e.wellLocation?.offset?.y==null?void 0:D(e.wellLocation.offset.y,a),f=e.wellLocation?.offset?.z==null?void 0:D(e.wellLocation.offset.z,a),m=e.minimumZHeight==null?void 0:D(e.minimumZHeight,a),h=e.forceDirect==null?void 0:je(e.forceDirect,a),_=e.speed==null?void 0:D(e.speed,a),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 I=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,L=r.pipettes[s]?.nozzles??c.ALL,g=r.pipettes[s]?.primaryNozzle??ga({nozzles:L,channels:S?.channels}),T=(S?.displayCategory==="FLEX"||S?.channels===96)??!1,A=Wn(i,r.labware);if(S||y.push(ht({pipette:s})),!i||!r.labware[i]?y.push(_t({actionName:b,labware:i})):ee(r.labware[i].stack)==="offDeck"&&y.push(Rn()),De.includes(A))y.push(Wt({typeOfStep:"move to well"}));else if(w[A]!=null){const J=ee(w[A].stack);De.includes(J)&&y.push(Wt({typeOfStep:b}))}Yn({pipette:s,labware:i,invariantContext:t,prevRobotState:r})&&y.push(Ro()),Xo(r.modules,r.labware,i)&&y.push(vn()),ea(r.modules,r.labware,i)&&y.push(Ea()),Yo(r.modules,r.labware,i)&&y.push(xr()),ta(r.modules,r.labware,i)&&y.push(Pn()),Xn(r.modules,A,T?c.FLEX_ROBOT_TYPE:c.OT2_ROBOT_TYPE)&&y.push(ko()),T||(Kn(r.modules,A)&&y.push(No()),Zn(r.modules,A,S)&&y.push(Co()),Jo(r.modules,A,S,o[i])&&y.push(Aa()));const 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+)`;return{commands:[{commandType:"vacuumModule/startSetVacuumPower",key:U(),params:{moduleId:i,percentPower:l,...w??{}}}],python:A}},Gc=(e,t,r)=>{const{gaugePressure:n,duration:o,ventAfter:a}=e,{runtimeParameters:s}=t,i=O(e.moduleId,s),l=D(n,s),u=o==null?void 0:D(o,s),p=a==null?void 0:je(a,s),d=[e.moduleId,n,o,a],f=[i,l,u,p],m=d.flatMap((E,v)=>typeof E=="string"&&f[v]===null?[C({parameterName:E})]:[]);if(m.length>0||i==null||l==null||u===null||p===null)return{errors:m};const h=t.moduleEntities[i],_=pt(r,i);if(_==null||h==null)return{errors:[de()]};if(Gn(_))return{errors:[Mo()]};const I=o!=null,b=I?`${h.pythonName}_task_${_.numPumpActivitiesStarted+1}`:null,w=I?{duration:u,ventAfter:p,taskId:b}:null,S=`gauge_pressure_mbar=${Je(n)}`,L=I?ey(o,a):[],g=[S,...L],A=`${I?`${b} = `:""}${h.pythonName}.start_set_vacuum_pressure(
+${Q(g.join(`,
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-)`;return{commands:[{commandType:"vacuumModule/startSetVacuumPressure",key:$(),params:{moduleId:i,gaugePressure:l,...w??{}}}],python:A}},vw=e=>{const{steps:t,repetitions:r}=e;return Array.from({length:r}).flatMap(()=>t)},Pw=e=>e.reduce((t,r)=>{if("repetitions"in r){const n=vw(r);return[...t,...n]}return[...t,r]},[]),lo=e=>{const{holdSeconds:t,ventAfter:r}=e,n={enable_pump:!0,hold_time_seconds:t,...r!=null?{vent_after:r}:{}};if("gaugePressureMbar"in e){const{gaugePressureMbar:o}=e;return Br({gauge_pressure_mbar:o,...n,vent_after:r})}const{percentPower:a}=e;return Br({percent_power:Number(a),...n})},Rw=e=>{let t,r;if(e.length===1&&"repetitions"in e[0]){const{steps:a,repetitions:o}=e[0];return t=`steps=[
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-]`,r=`repetitions=${sr(1)}`,[t,r]},Gc=(e,t,r)=>{const{profile:n,ventAfter:a}=e,{runtimeParameters:o}=t,s=v(e.moduleId,o),i=lt(a,o),l=[e.moduleId,a],u=[s,i],p=l.flatMap((w,S)=>typeof w=="string"&&u[S]===null?[C({parameterName:w})]:[]);if(p.length>0||s==null||i==null)return{errors:p};const d=ct(r,s);if(d===null)return{errors:[pe()]};if(Wn(d))return{errors:[Na()]};const m=t.moduleEntities[s].pythonName,h=`${m}_task_${d.numPumpActivitiesStarted+1}`,_=Rw(n),y=`vent_after=${Vr(a)}`,T=n.map((w,S)=>S===n.length-1?{...w,ventAfter:i}:w),b=`${h} = ${m}.start_execute_profile(
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+]`,r=`repetitions=${ur(1)}`,[t,r]},So=(e,t,r)=>{const n=D(e,t);return typeof e=="string"&&n==null&&r.push(C({parameterName:e})),n},ty=(e,t,r)=>{const n=je(e,t);return typeof e=="string"&&n==null&&r.push(C({parameterName:e})),n},da=(e,t,r)=>e===void 0?void 0:So(e,t,r),ry=(e,t,r)=>e===void 0?void 0:ty(e,t,r),lm=(e,t,r)=>{const n=So(e.holdSeconds,t,r),o=ty(e.enablePump,t,r),a=da(e.holdTimeSeconds,t,r),s=da(e.holdTimeMinutes,t,r),i=da(e.rampRate,t,r),l=da(e.timeoutSeconds,t,r),u=ry(e.ventAfter,t,r);if(n==null||o==null||a===null||s===null||i===null||l===null||u===null)return null;const p={holdSeconds:n,enablePump:o,...a!==void 0?{holdTimeSeconds:a}:{},...s!==void 0?{holdTimeMinutes:s}:{},...i!==void 0?{rampRate:i}:{},...l!==void 0?{timeoutSeconds:l}:{},...u!==void 0?{ventAfter:u}:{}};if("gaugePressureMbar"in e){const f=So(e.gaugePressureMbar,t,r);return f==null?null:{...p,gaugePressureMbar:f}}const d=So(e.percentPower,t,r);return d==null?null:{...p,percentPower:d}},Uw=(e,t,r)=>{const n=[];for(const o of e){if("repetitions"in o){const s=So(o.repetitions,t,r),i=ry(o.ventAfter,t,r),l=[];for(const p of o.steps){const d=lm(p,t,r);if(d==null)return null;l.push(d)}if(s==null||i===null)return null;const u={repetitions:s,steps:l,...i!==void 0?{ventAfter:i}:{}};n.push(u);continue}const a=lm(o,t,r);if(a==null)return null;n.push(a)}return n},Yc=(e,t,r)=>{const{profile:n,ventAfter:o}=e,{runtimeParameters:a}=t,s=O(e.moduleId,a),i=je(o,a),l=[e.moduleId,o],u=[s,i],p=l.flatMap((S,L)=>typeof S=="string"&&u[L]===null?[C({parameterName:S})]:[]),d=Uw(n,a,p);if(p.length>0||s==null||i==null||d==null)return{errors:p};const f=pt(r,s);if(f===null)return{errors:[de()]};if(Gn(f))return{errors:[Mo()]};const h=t.moduleEntities[s].pythonName,_=`${h}_task_${f.numPumpActivitiesStarted+1}`,y=Fw(d),I=`vent_after=${Je(o)}`,b=d.map((S,L)=>L===d.length-1?{...S,ventAfter:i}:S),w=`${_} = ${h}.start_execute_profile(
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-)`;return{commands:[{commandType:"vacuumModule/startRunProfile",key:$(),params:{moduleId:s,steps:T,ventAfter:i,taskId:h}}],python:b}},Q_=(e,t,r)=>{const n=v(e.moduleId,t.runtimeParameters);if(n==null)return{errors:[C({parameterName:e.moduleId})]};const a=t.moduleEntities[n];if(a==null)return{errors:[pe()]};const o=`${a.pythonName}.stop_vacuum_pump()`;return{commands:[{commandType:"vacuumModule/stopVacuum",key:$(),params:{moduleId:n}}],python:o}},Yc=(e,t,r)=>{const{runtimeParameters:n}=t,a=v(e.moduleId,n),o=U(e.celsius,n),s=[];if(e.moduleId!=null&&a==null&&s.push(C({parameterName:e.moduleId})),typeof e.celsius=="string"&&o==null&&s.push(C({parameterName:e.celsius})),s.length>0||o==null)return{errors:s};const i=a?Rt(r,a):null,l=[];if(a===null||!i)return{errors:[pe()]};if(i.type!==c.TEMPERATURE_MODULE_TYPE&&i.type!==c.HEATERSHAKER_MODULE_TYPE)return console.error(`expected module to be ${c.TEMPERATURE_MODULE_TYPE} but got ${i.type}`),{errors:[pe()]};const u="status"in i&&i.status===bc&&i.targetTemperature!==o,p="status"in i&&i.status===Tc&&i.targetTemperature!==o;if(u||"status"in i&&i.status===Ma||"targetTemp"in i&&i.targetTemp==null)return{errors:[rT()]};p&&l.push(Ew());const d=t.moduleEntities[a],f=d?.type;switch(f){case c.TEMPERATURE_MODULE_TYPE:return{commands:[{commandType:"temperatureModule/waitForTemperature",key:$(),params:{moduleId:a,celsius:o}}],warnings:l.length>0?l:void 0,python:`${d?.pythonName}.await_temperature(${e.celsius})`};case c.HEATERSHAKER_MODULE_TYPE:return{commands:[{commandType:"heaterShaker/waitForTemperature",key:$(),params:{moduleId:a,celsius:o}}],warnings:l.length>0?l:void 0,python:`${d?.pythonName}.wait_for_temperature()`};default:return console.error(`awaitTemperature expected module ${a} to be ${c.TEMPERATURE_MODULE_TYPE} or ${c.HEATERSHAKER_MODULE_TYPE}, got ${f}`),{errors:[pe()]}}},kw=(e,t,r)=>{const{runtimeParameters:n}=t,a=v(e.pipetteId,n),o=v(e.labwareId,n),s=v(e.wellName,n),i=U(e.volume,n),l=U(e.flowRate,n),u=Cn(e.trackFromLocation,n),p=Cn(e.trackToLocation,n),d=[e.pipetteId,e.labwareId,e.wellName,e.volume,e.flowRate],f=[a,o,s,i,l],m=[...d.flatMap((w,S)=>typeof w=="string"&&f[S]==null?[C({parameterName:w})]:[]),...[...u.invalidParameterNames,...p.invalidParameterNames].map(w=>C({parameterName:w}))];if(m.length>0||a==null||o==null||s==null||i==null||l==null||u.location==null||p.location==null)return{errors:m};const h=t.pipetteEntities[a].pythonName,_=t.labwareEntities[o].pythonName,y=n[e.wellName]!=null?e.wellName:F(s),T=`${_}[${y}]`,b=[`volume=${e.volume}`,`location=${T}${zt({origin:u.location.origin,offset:e.trackFromLocation.offset})}`,`flow_rate=${e.flowRate}`,`end_location=${T}${zt({origin:p.location.origin,offset:e.trackToLocation.offset})}`];return{commands:[{commandType:"aspirateWhileTracking",key:$(),params:{pipetteId:a,volume:i,flowRate:l,labwareId:o,wellName:s,trackFromLocation:u.location,trackToLocation:p.location}}],python:`${h}.aspirate(
+)`;return{commands:[{commandType:"vacuumModule/startRunProfile",key:U(),params:{moduleId:s,steps:b,ventAfter:i,taskId:_}}],python:w}},ny=(e,t,r)=>{const n=O(e.moduleId,t.runtimeParameters);if(n==null)return{errors:[C({parameterName:e.moduleId})]};const o=t.moduleEntities[n];if(o==null)return{errors:[de()]};const a=`${o.pythonName}.stop_vacuum_pump()`;return{commands:[{commandType:"vacuumModule/stopVacuum",key:U(),params:{moduleId:n}}],python:a}},Kc=(e,t,r)=>{const{runtimeParameters:n}=t,o=O(e.moduleId,n),a=D(e.celsius,n),s=[];if(e.moduleId!=null&&o==null&&s.push(C({parameterName:e.moduleId})),typeof e.celsius=="string"&&a==null&&s.push(C({parameterName:e.celsius})),s.length>0||a==null)return{errors:s};const i=o?kt(r,o):null,l=[];if(o===null||!i)return{errors:[de()]};if(i.type!==c.TEMPERATURE_MODULE_TYPE&&i.type!==c.HEATERSHAKER_MODULE_TYPE)return console.error(`expected module to be ${c.TEMPERATURE_MODULE_TYPE} but got ${i.type}`),{errors:[de()]};const u="status"in i&&i.status===gc&&i.targetTemperature!==a,p="status"in i&&i.status===Ec&&i.targetTemperature!==a;if(u||"status"in i&&i.status===$o||"targetTemp"in i&&i.targetTemp==null)return{errors:[iI()]};p&&l.push(Rw());const d=t.moduleEntities[o],f=d?.type;switch(f){case c.TEMPERATURE_MODULE_TYPE:return{commands:[{commandType:"temperatureModule/waitForTemperature",key:U(),params:{moduleId:o,celsius:a}}],warnings:l.length>0?l:void 0,python:`${d?.pythonName}.await_temperature(${e.celsius})`};case c.HEATERSHAKER_MODULE_TYPE:return{commands:[{commandType:"heaterShaker/waitForTemperature",key:U(),params:{moduleId:o,celsius:a}}],warnings:l.length>0?l:void 0,python:`${d?.pythonName}.wait_for_temperature()`};default:return console.error(`awaitTemperature expected module ${o} to be ${c.TEMPERATURE_MODULE_TYPE} or ${c.HEATERSHAKER_MODULE_TYPE}, got ${f}`),{errors:[de()]}}},$w=(e,t,r)=>{const{runtimeParameters:n}=t,o=O(e.pipetteId,n),a=O(e.labwareId,n),s=O(e.wellName,n),i=D(e.volume,n),l=D(e.flowRate,n),u=Dn(e.trackFromLocation,n),p=Dn(e.trackToLocation,n),d=[e.pipetteId,e.labwareId,e.wellName,e.volume,e.flowRate],f=[o,a,s,i,l],m=[...d.flatMap((w,S)=>typeof w=="string"&&f[S]==null?[C({parameterName:w})]:[]),...[...u.invalidParameterNames,...p.invalidParameterNames].map(w=>C({parameterName:w}))];if(m.length>0||o==null||a==null||s==null||i==null||l==null||u.location==null||p.location==null)return{errors:m};const h=t.pipetteEntities[o].pythonName,_=t.labwareEntities[a].pythonName,y=n[e.wellName]!=null?e.wellName:q(s),I=`${_}[${y}]`,b=[`volume=${e.volume}`,`location=${I}${Gt({origin:u.location.origin,offset:e.trackFromLocation.offset})}`,`flow_rate=${e.flowRate}`,`end_location=${I}${Gt({origin:p.location.origin,offset:e.trackToLocation.offset})}`];return{commands:[{commandType:"aspirateWhileTracking",key:U(),params:{pipetteId:o,volume:i,flowRate:l,labwareId:a,wellName:s,trackFromLocation:u.location,trackToLocation:p.location}}],python:`${h}.aspirate(
 ${Q(b.join(`,
 `))},
-)`}},Nw=(e,t,r)=>{const{runtimeParameters:n}=t,a=v(e.pipetteId,n),o=v(e.labwareId,n),s=v(e.wellName,n),i=U(e.volume,n),l=U(e.flowRate,n),u=e.pushOut==null?void 0:U(e.pushOut,n),p=Cn(e.trackFromLocation,n),d=Cn(e.trackToLocation,n),f=[e.pipetteId,e.labwareId,e.wellName,e.volume,e.flowRate,e.pushOut],m=[a,o,s,i,l,u],h=[...f.flatMap((S,g)=>typeof S=="string"&&m[g]==null?[C({parameterName:S})]:[]),...[...p.invalidParameterNames,...d.invalidParameterNames].map(S=>C({parameterName:S}))];if(h.length>0||a==null||o==null||s==null||i==null||l==null||p.location==null||d.location==null)return{errors:h};const _=t.pipetteEntities[a].pythonName,y=t.labwareEntities[o].pythonName,T=n[e.wellName]!=null?e.wellName:F(s),b=`${y}[${T}]`,w=[`volume=${e.volume}`,`location=${b}${zt({origin:p.location.origin,offset:e.trackFromLocation.offset})}`,`flow_rate=${e.flowRate}`,`end_location=${b}${zt({origin:d.location.origin,offset:e.trackToLocation.offset})}`,...e.pushOut!=null?[`push_out=${e.pushOut}`]:[]];return{commands:[{commandType:"dispenseWhileTracking",key:$(),params:{pipetteId:a,volume:i,flowRate:l,labwareId:o,wellName:s,trackFromLocation:p.location,trackToLocation:d.location,...u!=null?{pushOut:u}:{}}}],python:`${_}.dispense(
+)`}},qw=(e,t,r)=>{const{runtimeParameters:n}=t,o=O(e.pipetteId,n),a=O(e.labwareId,n),s=O(e.wellName,n),i=D(e.volume,n),l=D(e.flowRate,n),u=e.pushOut==null?void 0:D(e.pushOut,n),p=Dn(e.trackFromLocation,n),d=Dn(e.trackToLocation,n),f=[e.pipetteId,e.labwareId,e.wellName,e.volume,e.flowRate,e.pushOut],m=[o,a,s,i,l,u],h=[...f.flatMap((S,L)=>typeof S=="string"&&m[L]==null?[C({parameterName:S})]:[]),...[...p.invalidParameterNames,...d.invalidParameterNames].map(S=>C({parameterName:S}))];if(h.length>0||o==null||a==null||s==null||i==null||l==null||p.location==null||d.location==null)return{errors:h};const _=t.pipetteEntities[o].pythonName,y=t.labwareEntities[a].pythonName,I=n[e.wellName]!=null?e.wellName:q(s),b=`${y}[${I}]`,w=[`volume=${e.volume}`,`location=${b}${Gt({origin:p.location.origin,offset:e.trackFromLocation.offset})}`,`flow_rate=${e.flowRate}`,`end_location=${b}${Gt({origin:d.location.origin,offset:e.trackToLocation.offset})}`,...e.pushOut!=null?[`push_out=${e.pushOut}`]:[]];return{commands:[{commandType:"dispenseWhileTracking",key:U(),params:{pipetteId:o,volume:i,flowRate:l,labwareId:a,wellName:s,trackFromLocation:p.location,trackToLocation:d.location,...u!=null?{pushOut:u}:{}}}],python:`${_}.dispense(
 ${Q(w.join(`,
 `))},
-)`}},Cw=(e,t,r)=>{const{axes:n,skipIfMountPositionOk:a}=e,o={commandType:"home",key:$(),params:{axes:n,skipIfMountPositionOk:a}},s=[...n!=null?[`axes=${zc(n)},
-`]:[],...a!=null?[`skipIfMountPositionOk=${F(a)},
-`]:[]],i=`${ge}.home(${s.join(", ")})`;return{commands:[o],python:i}},Dw=(e,t,r)=>{const{pipetteEntities:n,runtimeParameters:a}=t,o=v(e.pipetteId,a),s=v(e.axis,a),i=U(e.distance,a),l=[];if(o==null&&l.push(C({parameterName:e.pipetteId})),s==null&&l.push(C({parameterName:e.axis})),typeof e.distance=="string"&&i==null&&l.push(C({parameterName:e.distance})),l.length>0||o==null||s==null||i==null)return{errors:l};const u=n[o].pythonName,p=a[e.axis]!=null?e.axis:F(s),d=[{commandType:"moveRelative",key:$(),params:{pipetteId:o,axis:s,distance:i}}],f=[`axis=${p}`,`distance=${e.distance}`];return{commands:d,python:`${u}.move_axes_relative(${f.join(", ")})`}},Mw=(e,t,r)=>{const{pipetteEntities:n,runtimeParameters:a}=t,{coordinates:o}=e,s=v(e.pipetteId,a),i=U(o.x,a),l=U(o.y,a),u=U(o.z,a),p=e.minimumZHeight==null?void 0:U(e.minimumZHeight,a),d=e.forceDirect==null?void 0:lt(e.forceDirect,a),f=[];if(s==null&&f.push(C({parameterName:e.pipetteId})),typeof o.x=="string"&&i==null&&f.push(C({parameterName:o.x})),typeof o.y=="string"&&l==null&&f.push(C({parameterName:o.y})),typeof o.z=="string"&&u==null&&f.push(C({parameterName:o.z})),typeof e.minimumZHeight=="string"&&p==null&&f.push(C({parameterName:e.minimumZHeight})),typeof e.forceDirect=="string"&&d==null&&f.push(C({parameterName:e.forceDirect})),f.length>0||s==null||i==null||l==null||u==null)return{errors:f};const m=n[s].pythonName,h=[`coordinates=(${o.x}, ${o.y}, ${o.z})`];return typeof e.forceDirect=="string"?h.push(`force_direct=${e.forceDirect}`):e.forceDirect&&h.push("force_direct=True"),e.minimumZHeight&&h.push(`minimum_z_height=${e.minimumZHeight}`),{commands:[{commandType:"moveToCoordinates",key:$(),params:{pipetteId:s,coordinates:{x:i,y:l,z:u},minimumZHeight:p??void 0,forceDirect:d??void 0}}],python:`${m}.move_axes_to(${h.join(", ")})`}},Fw=(e,t,r)=>{const{runtimeParameters:n}=t,a=v(e.pipetteId,n),o=v(e.labwareId,n),s=v(e.wellName,n),i=e.wellLocation?.origin,l=i==null?void 0:v(i,n),u=e.wellLocation?.offset,p=u?.x==null?void 0:U(u.x,n),d=u?.y==null?void 0:U(u.y,n),f=u?.z==null?void 0:U(u.z,n),m=[];for(const[b,w]of[[e.pipetteId,a],[e.labwareId,o],[e.wellName,s]])w==null&&m.push(C({parameterName:b}));i!=null&&l==null&&m.push(C({parameterName:i}));for(const[b,w]of[[u?.x,p],[u?.y,d],[u?.z,f]])typeof b=="string"&&w==null&&m.push(C({parameterName:b}));if(m.length>0||a==null||o==null||s==null)return{errors:m};const h=t.pipetteEntities[a].pythonName,_=t.labwareEntities[o].pythonName;let y;e.wellLocation!=null&&(y={},l!=null&&(y.origin=l),u!=null&&(y.offset={},p!=null&&(y.offset.x=p),d!=null&&(y.offset.y=d),f!=null&&(y.offset.z=f)));const T=n[e.wellName]!=null?e.wellName:F(s);return{commands:[{commandType:"tryLiquidProbe",key:$(),params:{pipetteId:a,labwareId:o,wellName:s,wellLocation:y}}],python:`${h}.detect_liquid_presence(${_}[${T}])`}},J_=(e,t,r)=>{const{runtimeParameters:n}=t,a=v(e.moduleId,n);if(a==null)return{errors:[C({parameterName:e.moduleId})]};const o=t.moduleEntities[a].pythonName;return{commands:[{commandType:"heaterShaker/closeLabwareLatch",key:$(),params:{moduleId:a}}],python:`${o}.close_labware_latch()`}},tc=(e,t,r)=>{const{runtimeParameters:n}=t,a=v(e.moduleId,n);if(a==null)return{errors:[C({parameterName:e.moduleId})]};const o=t.moduleEntities[a].pythonName;return{commands:[{commandType:"heaterShaker/deactivateHeater",key:$(),params:{moduleId:a}}],python:`${o}.deactivate_heater()`}},Uw=["1","4","7","10"],ey=(e,t,r)=>{const{pipetteEntities:n,labwareEntities:a,moduleEntities:o,runtimeParameters:s}=t,i=v(e.moduleId,s);if(i==null)return{errors:[C({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)&&tb(r.labware,a,l)){const m=Uw.includes(l)?"right":"left";return{errors:[pT(m)]}}const f=o[i].pythonName;return{commands:[{commandType:"heaterShaker/openLabwareLatch",key:$(),params:{moduleId:i}}],python:`${f}.open_labware_latch()`}},ty=(e,t,r)=>{const{moduleEntities:n,runtimeParameters:a}=t,o=v(e.moduleId,a),s=U(e.rpm,a),i=[];if(o==null&&i.push(C({parameterName:e.moduleId})),typeof e.rpm=="string"&&s==null&&i.push(C({parameterName:e.rpm})),i.length>0||o==null||s==null)return{errors:i};if(n[o]?.type!==c.HEATERSHAKER_MODULE_TYPE)throw new Error(`expected module ${o} to be heaterShaker, got ${n[o]?.type}`);const l=n[o].pythonName;return{commands:[{commandType:"heaterShaker/setAndWaitForShakeSpeed",key:$(),params:{moduleId:o,rpm:s}}],python:`${l}.set_and_wait_for_shake_speed(${e.rpm})`}},rc=(e,t,r)=>{const{runtimeParameters:n}=t,a=v(e.moduleId,n);if(a==null)return{errors:[C({parameterName:e.moduleId})]};const o=t.moduleEntities[a].pythonName;return{commands:[{commandType:"heaterShaker/deactivateShaker",key:$(),params:{moduleId:a}}],python:`${o}.deactivate_shaker()`}},Kc=(e,t,r)=>{const{moduleEntities:n,labwareEntities:a,runtimeParameters:o}=t,s=v(e.moduleId,o);if(s==null)return{errors:[C({parameterName:e.moduleId})]};const i=[],l=n[s].pythonName,p=Object.values(r.labware).filter(m=>m.stack.includes(s)).find(m=>m.stack.find(h=>a[h]?.def.allowedRoles?.includes("lid")&&a[h]?.def.parameters.loadName!=="opentrons_tough_pcr_auto_sealing_lid")),d=p!=null?Fo(p.stack):null,f=d!=null?a[d].def.metadata.displayName:null;return f!=null&&i.push(IT({lidDisplayName:f})),i.length>0?{errors:i}:{commands:[{commandType:"thermocycler/closeLid",key:$(),params:{moduleId:s}}],python:`${l}.close_lid()`}},ry=(e,t,r)=>{const n=v(e.moduleId,t.runtimeParameters);if(n==null)return{errors:[C({parameterName:e.moduleId})]};const a=t.moduleEntities[n].pythonName;return{commands:[{commandType:"thermocycler/deactivateBlock",key:$(),params:{moduleId:n}}],python:`${a}.deactivate_block()`}},ny=(e,t,r)=>{const n=v(e.moduleId,t.runtimeParameters);if(n==null)return{errors:[C({parameterName:e.moduleId})]};const a=t.moduleEntities[n].pythonName;return{commands:[{commandType:"thermocycler/deactivateLid",key:$(),params:{moduleId:n}}],python:`${a}.deactivate_lid()`}},ay=(e,t,r)=>{const n=v(e.moduleId,t.runtimeParameters);if(n==null)return{errors:[C({parameterName:e.moduleId})]};const a=t.moduleEntities[n].pythonName;return{commands:[{commandType:"thermocycler/openLid",key:$(),params:{moduleId:n}}],python:`${a}.open_lid()`}},oy=(e,t,r)=>{e.celsius!==void 0&&console.warn("'volume' param not implemented for thermocycler/setTargetBlockTemperature, should not be set!");const{runtimeParameters:n}=t,a=v(e.moduleId,n),o=U(e.celsius,n),s=[];if(a==null&&s.push(C({parameterName:e.moduleId})),typeof e.celsius=="string"&&o==null&&s.push(C({parameterName:e.celsius})),a==null||o==null)return{errors:s};const i=t.moduleEntities[a].pythonName;return{commands:[{commandType:"thermocycler/setTargetBlockTemperature",key:$(),params:{moduleId:a,celsius:o}}],python:`${i}.set_block_temperature(${e.celsius})`}},Zc=(e,t,r)=>{const{runtimeParameters:n}=t,a=v(e.moduleId,n),o=U(e.celsius,n),s=[];if(a==null&&s.push(C({parameterName:e.moduleId})),typeof e.celsius=="string"&&o==null&&s.push(C({parameterName:e.celsius})),a==null||o==null)return{errors:s};const i=t.moduleEntities[a].pythonName;return{commands:[{commandType:"thermocycler/setTargetLidTemperature",key:$(),params:{moduleId:a,celsius:o}}],python:`${i}.set_lid_temperature(${e.celsius})`}};function P(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__",Kr="source_well",xn="dest_well";function sy(e){return 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 in o)if(o[u].includes(l))return u}return null})(e);if(i==null)throw Error(`expected to find cutoutId from addressableAreaName ${e} but could not`);return i};function py(e){switch(e){case 1:return c.ONE_CHANNEL_WASTE_CHUTE_ADDRESSABLE_AREA;case 8:return c.EIGHT_CHANNEL_WASTE_CHUTE_ADDRESSABLE_AREA;case 96:return c.NINETY_SIX_CHANNEL_WASTE_CHUTE_ADDRESSABLE_AREA}}function Xc(e){const t=c.getDeckDefFromRobotType(e==="cutout12"?c.OT2_ROBOT_TYPE:c.FLEX_ROBOT_TYPE);let r=null;return t.robot.model===c.FLEX_ROBOT_TYPE&&(r=t.cutoutFixtures.find(n=>n.id==="trashBinAdapter")?.providesAddressableAreas??null),t.robot.model===c.FLEX_ROBOT_TYPE&&r==null&&console.error(`expected to find a list of cutouts for the Flex but could not with trashLocation ${e}`),r!=null?r[e]?.[0]:"fixedTrash"}function dy(e){if(e==="fixedTrash")return"cutout12";const r=c.getDeckDefFromRobotType(c.FLEX_ROBOT_TYPE).cutoutFixtures.find(n=>n.id==="trashBinAdapter")?.providesAddressableAreas??null;if(r==null)return console.error("Could not find trashBinAdapter cutouts for Flex"),null;for(const[n,a]of Object.entries(r))if(a.includes(e))return n;return console.error(`Could not find trashLocation for addressableAreaName ${e}`),null}function Hn(e,t,r,n){return e[n]!=null?"labware":t[n]!=null?"wasteChute":r[n]!=null?"trashBin":(console.error(`expected to determine if dest labware is a labware or waste chute with destLabware ${n} but could not`),null)}function fy(e,t){return Rn(gn(t),r=>e)}function br(e){return ft(e,(t,r,n)=>n===Ye?t:t+r.volume,0)}function nr(e,t){const r=br(t);if(r===0)return{source:t,dest:{[Ye]:{volume:e}}};if(e>r)return{source:or(t,()=>({volume:0})),dest:{...t,[Ye]:{volume:e-r}}};const n=ft(t,(a,o,s)=>({...a,[s]:o.volume/r}),{});return Object.keys(t).reduce((a,o)=>{const s=n[o]*e;return{source:{...a.source,[o]:{volume:t[o].volume-s}},dest:{...a.dest,[o]:{volume:s}}}},{source:{},dest:{}})}function Tr(e,t){return{...t,...ft(e,(r,n,a)=>{const s=a in t?n.volume+t[a].volume:n.volume;return{...r,[a]:{volume:s}}},{})}}function Qc(e,t,r){const n=e===1?[r]:c.getWellNamePerMultiTip(t,r,e);if(!n)return console.warn(e===1?`Invalid well: ${r}`:`For labware def (URI ${c.getLabwareDefURI(t)}), with primary well ${r}, no wells are accessible by 8-channel's 1st tip`),{wellsForTips:[],allWellsShared:!1};const a=n.every(o=>o&&o===n[0]);return{wellsForTips:n,allWellsShared:a}}const my=e=>{const{pipette:t,sourceLabwareId:r,sourceWell:n,destLabwareId:a,destWell:o,blowoutLocation:s,flowRate:i,offsetFromTopMm:l,invariantContext:u}=e;if(!s)return[];const{trashBinEntities:p,wasteChuteEntities:d}=u;let f=null,m=null;return s===Kr?(f=r,m=n):s===xn&&(f=a,m=o),m!=null&&f!=null?[P(Vc,{pipetteId:t,labwareId:f,wellName:m,flowRate:i,wellLocation:{origin:"top",offset:{z:l}}})]:d[s]!=null?[P(Pb,{pipetteId:t,flowRate:i,wasteChuteId:Object.keys(d)[0]})]:[P(vb,{pipetteId:t,trashId:Object.keys(p)[0],flowRate:i})]};function hy(e){const{labwareEntities:t,pipetteEntities:r,wasteChuteEntities:n,trashBinEntities:a}=e;return{pipettes:ft(r,(o,s,i)=>{const l=s.spec;return{...o,[i]:_y(l.channels,{})}},{}),labware:ft(t,(o,s,i)=>({...o,[i]:or(s.def.wells,()=>({}))}),{}),trashBins:ft(a,(o,s,i)=>({...o,[i]:{}}),{}),wasteChute:ft(n,(o,s,i)=>({...o,[i]:{}}),{})}}function _y(e,t){return gn(e).reduce((r,n)=>({...r,[n]:t}),{})}const yy=e=>{const{blowoutLocation:t,sourceLabware:r,destLabware:n,sourceWell:a,destWell:o}=e;return t===Kr&&r!=null&&a!=null?{dispenseAirGapLabware:r,dispenseAirGapWell:a}:{dispenseAirGapLabware:n,dispenseAirGapWell:o}};function Jc(e){const{invariantContext:t,labwareLocations:r,moduleLocations:n={},pipetteLocations:a}=e;return{labware:r,modules:n,pipettes:a,liquidState:hy(t),tipState:{pipettes:ft(a,(o,s,i)=>s.mount?{...o,[i]:{hasTip:!1,tiprackURI:null}}:o,{}),tipracks:ft(r,(o,s,i)=>{const l=t.labwareEntities[i].def;if(!c.getIsTiprack(l))return o;const u=or(l.wells,()=>Fa);return{...o,[i]:u}},{})}}}const by=(e,t)=>e.tipracks[t]!=null?Object.values(e.tipracks[t]).some(r=>r!==_e):!1,Ty=(e,t)=>e.labware[t]!=null?Object.values(e.labware[t]).some(r=>Object.values(r).some(n=>n.volume>0)):!1,qw=(e,t,r)=>{const{destinationId:n,pipetteId:a,volume:o,flowRate:s,offsetFromBottomMm:i,well:l,xOffset:u,yOffset:p,tipRack:d,primaryNozzle:f,nozzles:m}=e,{labwareEntities:h,trashBinEntities:_,wasteChuteEntities:y}=t,T=Hn(h,y,_,n);let b=[];return T==="labware"&&i!=null&&l!=null?b=[P(Bc,{pipetteId:a,volume:o,labwareId:n,wellName:l,flowRate:s,wellLocation:{origin:"bottom",offset:{z:i,x:u,y:p}},tipRack:d,primaryNozzle:f,nozzles:m})]:T==="wasteChute"?b=[P(kA,{pipetteId:a,volume:o,flowRate:s,wasteChuteId:y[n].id})]:b=[P(RA,{pipetteId:a,volume:o,flowRate:s,trashId:_[n].id})],de(b,t,r)},Vw=(e,t,r)=>{const{destinationId:n,pipetteId:a,zOffset:o,well:s}=e,{labwareEntities:i,wasteChuteEntities:l,trashBinEntities:u}=t,p=Hn(i,l,u,n);let d=[];return p==="labware"&&s!=null?d=[P(z,{pipetteId:a,labwareId:n,wellName:s,wellLocation:{origin:"bottom",offset:{x:0,y:0,z:o}}})]:p==="wasteChute"?d=[P(qe,{pipetteId:a,fixtureId:l[n].id,offset:{x:0,y:0,z:0}})]:d=[P(qe,{pipetteId:a,fixtureId:u[n].id,offset:Lt})],de(d,t,r)},Bw=(e,t,r)=>{const{blowOutLocation:n,destinationId:a,destWell:o,flowRate:s,pipetteId:i,sourceId:l,sourceWell:u,volume:p}=e,{labwareEntities:d,trashBinEntities:f,wasteChuteEntities:m}=t,h=Hn(d,m,f,a);let _=[];if(h==="labware"&&o!=null){const{dispenseAirGapLabware:y,dispenseAirGapWell:T}=yy({blowoutLocation:n,sourceLabware:l,destLabware:a,sourceWell:u,destWell:o});_=[P(AA,{flowRate:s,pipetteId:i,labwareId:y,wellName:T,volume:p,type:"dispense"})]}else h==="wasteChute"?_=[P(EA,{pipetteId:i,volume:p,flowRate:s,wasteChuteId:m[a].id})]:_=[P(gA,{pipetteId:i,volume:p,flowRate:s,trashId:f[a].id})];return de(_,t,r)},xw=(e,t,r)=>{const{pipetteId:n,destinationId:a,well:o,zOffset:s,seconds:i}=e,{labwareEntities:l,trashBinEntities:u,wasteChuteEntities:p}=t,d=Hn(l,p,u,a);let f=[];return o!=null&&d==="labware"?f=[P(z,{pipetteId:n,labwareId:a,wellName:o,wellLocation:{origin:"bottom",offset:{x:0,y:0,z:s}}}),P(Te,{seconds:i})]:d==="wasteChute"?f=[P(qe,{pipetteId:n,fixtureId:a,offset:Lt}),P(Te,{seconds:i})]:f=[P(qe,{pipetteId:n,fixtureId:a,offset:Lt}),P(Te,{seconds:i})],de(f,t,r)},ee=(e,t=!1)=>{if(e==null)return console.error("expected to find stack but could not"),"unknown slot";{const r=e[e.length-1];return t?`STACKER ${r.slice(-2,-1)}`:r}},Hw=e=>e===c.VACUUM_MODULE_DOCK_A4_ADDRESSABLE_AREA?u_:e,Fo=e=>e==null?(console.error("expected to find stack but could not"),"unknown top location"):e[0],Iy=e=>e.length>=2?e[1]:null,Ia=e=>{const{slot:t,labwareState:r,modulesState:n}=e,a=Object.values(n).find(({slot:o,moduleState:s})=>o===t&&s.type===c.FLEX_STACKER_MODULE_TYPE);if(a!=null){const o=a.moduleState.labwareOnShuttle;return o==null?[]:[o.lidLabwareId,o.primaryLabwareId,o.adapterLabwareId].filter(i=>i!=null)}return Object.values(r).reduce((o,{stack:s})=>(s[s.length-1]===t&&s.length>o.length&&(o=s),o),[])},ep=e=>c.FLEX_SINGLE_SLOT_BY_CUTOUT_ID[c.FLEX_CUTOUT_BY_SLOT_ID[e]],wy=e=>{const t=c.FLEX_STACKER_ADDRESSABLE_AREAS.indexOf(e);return t===-1?null:De[t]},zw=e=>{const t=wy(e);return t!=null?ep(t):null},Sy=(e,t,r)=>{if(e==null)return null;if(De.includes(e)){const n=ep(e);return Object.entries(t).some(([o,s])=>r[o]?.type===c.FLEX_STACKER_MODULE_TYPE&&s.slot===n)?n:e}return e},Uo=e=>{const t=c.getDeckDefFromRobotType(c.FLEX_ROBOT_TYPE),r=`${e[0]}3`,n=c.FLEX_CUTOUT_BY_SLOT_ID[r],a=t.cutoutFixtures.find(({id:o})=>o===c.FLEX_STACKER_V1_FIXTURE)?.providesAddressableAreas[n];return c.FLEX_STACKER_ADDRESSABLE_AREAS.find(o=>a?.includes(o))??null},gy=(e,t,r,n)=>{if(t.length===0)return{isCompatible:!0,isAboveStackLimit:!1};let a=!1;const o=t.find(u=>u in n);o!=null&&(a=n[o].type===c.FLEX_STACKER_MODULE_TYPE&&t.includes(et));const s=Fo(t);let i=!0,l=!1;if(s in r){const u=r[e],p=r[s],d=t.filter(k=>r[k]!=null),f=d.filter(k=>r[k]?.def?.allowedRoles?.includes("lid"))[0],m=d.filter(k=>r[k]?.def?.allowedRoles?.includes("adapter"))[0],h=p.def.parameters.loadName,_=d.filter(k=>!r[k]?.def?.allowedRoles?.includes("adapter")&&!r[k]?.def?.allowedRoles?.includes("lid"))[0];if(a){const k=c.getMaxPoolCount({labwareDefinitions:{primary:r[_]?.def??null,adapter:r[m]?.def??null,lid:r[f]?.def??null},model:c.FLEX_STACKER_MODULE_V1});l=t.length>k}else{const k=p.def.stackLimit??1,D=h===u.def.parameters.loadName,M=t.filter(G=>r[G]?.def.parameters.loadName===h)?.length;l=D&&M>=k}const y=u.def.parameters.loadName==="opentrons_tough_universal_lid",T=p.def.metadata.displayCategory==="tubeRack",b=p.def.metadata.displayCategory==="aluminumBlock",w=p.def.parameters.isTiprack,g=(p.def.allowedRoles??[]).includes("lid"),L=sy(p.def),I=t.some(k=>k in r&&$w(r[k].def)),A=u.def.parameters.quirks?.includes("vacuumModuleDock")??!1,O=wa(u.def)?uy(u.def,t,r):null;if(O!=null)l=O.isAboveStackLimit,i=O.isCompatible;else{const k=u.def,D=p.def,M=k.parameters.quirks?.includes("filterPlate")??!1,G=D.parameters.quirks?.includes("filterPlate")??!1,Y=D.parameters.quirks?.includes("providesStackingDefault")??!1,ae=M&&!g&&!w&&!G,fe=!I&&A,J=Y&&!L,Re=k.compatibleParentLabware?.includes(h)??!1,Ve=h in(k.stackingOffsetWithLabware??{}),Me=D.parameters.loadName==="opentrons_tough_universal_lid";i=ae||fe||J||Re||Ve||y&&!T&&!b&&!w&&(Me||!g)}}else if(s in n){const u=n[s],{model:p}=u;i=Object.keys(r[e].def.stackingOffsetWithModule??{}).some(d=>p===d)}return{isCompatible:i,isAboveStackLimit:l}},za=(e,t)=>t?.find(r=>e[r]!=null)??null,jw=(e,t,r)=>t?e:r?o_[e]:e,$o=(e,t,r)=>{if(t==="offDeck"&&r==null)return console.error("offDeck slot is not allowed to be used without an offDeckOverrideId"),[];const 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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: ${s}`),y?.forEach(function(T){u.tipracks[o][T]=_e})}else if(f===c.ROW){const y=h(l.ordering,s);y==null&&console.error("Invalid primary well for tip pickup: "+s),y?.forEach(function(T){u.tipracks[o][T]=_e})}else if(f===c.ALL)if(i.channels===96)l.ordering.reduce((T,b)=>T.concat(b),[]).forEach(function(T){u.tipracks[o][T]=_e});else{const y=m(l.ordering,s);y==null&&console.error(`Invalid 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i=hh(s,t);if(i==null)return console.error("resolveProfileElements: arg resolved to null (step=null)"),null;o.push(i)}r.push({steps:o,repetitions:a})}else{const a=hh(n,t);if(a==null)return console.error("resolveProfileElements: arg resolved to null (step=null)"),null;r.push(a)}return r}const xg=(e,t,r)=>{const{profile:n,...a}=e;Wy({profileElements:n,...a},t,r)},Wy=(e,t,r)=>{const n=NaN+$();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=${String(i)}, 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ventAfter=${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)}, 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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=${String(s)})`);return}const i=Object.entries(n.labware).filter(([,u])=>u.stack.includes(et)&&u.stack.includes(o)),l=yt(n,o);l!=null&&l.labwareInHopper!=null&&(s!=null?l.labwareInHopper=l.labwareInHopper.slice(0,s):l.labwareInHopper=[]),i.forEach(([u])=>{n.labware[u]={...n.labware[u],stack:[u,c.SYSTEM_LOCATION]}})},pE=(e,t,r)=>{const{robotState:n}=r,{labwareEntities:a,runtimeParameters:o}=t,s=v(e.moduleId,o),i=e.labware.map(b=>v(b,o));if(s==null||i.some(b=>b==null)){console.error(`forFlexStackerFillItems: arg resolved to null (moduleId=${String(s)}, labware=${String(i)})`);return}const l=i,u=n.modules[s].slot,p=yt(n,s);if(p==null||p.storedLabwareDetails==null)return;const{primaryLabwareURI:d,adapterLabwareURI:f,lidLabwareURI:m}=p.storedLabwareDetails,h=[];for(const b of l){const w=a[b].labwareDefURI;if(w===d)h.push({primaryLabwareId:b,adapterLabwareId:null,lidLabwareId:null});else if(w===f){const S=h[h.length-1];S&&(S.adapterLabwareId=b)}else if(w===m){const S=h[h.length-1];S&&(S.lidLabwareId=b)}}const _=[et,s,u];for(const b of h){const w=[b.adapterLabwareId,b.primaryLabwareId,b.lidLabwareId,..._].filter(g=>g!=null);n.labware[b.primaryLabwareId]={...n.labware[b.primaryLabwareId],stack:w.slice(w.indexOf(b.primaryLabwareId))},b.adapterLabwareId!=null&&(n.labware[b.adapterLabwareId]={...n.labware[b.adapterLabwareId],stack:w.slice(w.indexOf(b.adapterLabwareId))}),b.lidLabwareId!=null&&(n.labware[b.lidLabwareId]={...n.labware[b.lidLabwareId],stack:w.slice(w.indexOf(b.lidLabwareId))});let S=null;for(const g of w)a[g]!=null&&(S==null?n.labware[g].stackedOnNode={kind:"inStackerHopper",moduleId:s}:n.labware[g].stackedOnNode={labwareId:S},S=g)}const y=p.labwareInHopper??[],T=h.map(({primaryLabwareId:b,adapterLabwareId:w,lidLabwareId:S})=>({primaryLabwareId:b,adapterLabwareId:w,lidLabwareId:S}));p.labwareInHopper=[...y,...T]},Du=(e,t)=>{const r=v(e.loadName,t),n=v(e.namespace,t),a=U(e.version,t);return r==null||n==null||a==null?null:{loadName:r,namespace:n,version:a}},dE=(e,t,r)=>{const{robotState:n}=r,{labwareEntities:a,runtimeParameters:o}=t,s=v(e.moduleId,o),i=Du(e.primaryLabware,o),l=e.adapterLabware==null?null:Du(e.adapterLabware,o),u=e.lidLabware==null?null:Du(e.lidLabware,o),p=e.initialCount==null?void 0:U(e.initialCount,o);if(s==null||i==null||e.adapterLabware!=null&&l==null||e.lidLabware!=null&&u==null||p===null){console.error(`forFlexStackerSetStoredLabware: arg resolved to null (moduleId=${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 resolved to null (primaryLabwareId=${String(y)}, adapterLabwareId=${String(T)}, lidLabwareId=${String(b)})`);return}d.push({primaryLabwareId:y,adapterLabwareId:T,lidLabwareId:b})}}const f=n.modules[s].slot,m=yt(n,s),h=[et,s,f];m!=null&&(m.storedLabwareDetails={primaryLabwareURI:`${i.namespace}/${i.loadName}/${i.version}`,adapterLabwareURI:l!=null?`${l.namespace}/${l.loadName}/${l.version}`:null,lidLabwareURI:u!=null?`${u.namespace}/${u.loadName}/${u.version}`:null},p!=null?Xy(n,m,a,p,h,"setStoredLabwareCount",l?.loadName,u?.loadName):d!=null&&Zy(m,d,n,h),m.setStoredLabwareCount=(m?.setStoredLabwareCount??0)+1)},fE=(e,t,r)=>{const{robotState:n}=r,{labwareEntities:a,runtimeParameters:o}=t,s=v(e.moduleId,o),i=e.labware.map(I=>v(I,o));if(s==null||i.some(I=>I==null)){console.error(`forFlexStackerSetStoredLabwareItems: arg resolved to null (moduleId=${String(s)}, labware=${String(i)})`);return}const l=i,u=n.modules[s].slot,p=yt(n,s);if(p==null)return;const d=l.map(I=>I.split(":")[1]),f=new 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 command: ${e.commandType} passed to getNextRobotStateAndWarning`)}}function eb(e,t,r){return Dy({warnings:[],robotState:r},a=>{Jy(e,t,a)})}function bp(e,t,r){const n=My(e);return Dy({warnings:[],robotState:r},o=>{n.forEach(s=>{Jy(s,t,o)})})}const IE=(e,t,r)=>{const n=e.reduce((a,o,s)=>{const i=a.timeline.length===0?r:op(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=My(l.commands).reduce((f,m)=>eb(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}},jn=(e,t)=>{const r=t[e]?.stack;return r!=null?ee(r):""},Wn=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},Gn=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?ee(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(Wh.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},de=(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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LE(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]>=EE&&l[1]>=AE,p=t.protocolType==="json"&&r>=gE,d=c.getLabwareDefinitionsByURIForProtocol(s),f=i.reduce((b,w)=>{const{id:S,description:g,displayName:L,displayColor:I}=w;return{...b,[S]:{description:g,displayName:L??"Unknown Liquid",pythonName:"n/a",displayColor:I??"#B7B8B9",liquidGroupId:S}}},{}),m=a.reduce((b,w)=>{const{id:S,model:g}=w;return{...b,[S]:{id:S,type:c.getModuleType(g),model:g,pythonName:"n/a"}}},{}),h=n.reduce((b,w)=>{const{id:S,definitionUri:g}=w,L=d[g];return L==null||L.schemaVersion===3?b:{...b,[S]:{id:S,labwareDefURI:g,def:L,pythonName:"n/a"}}},{}),_=s.reduce((b,w)=>{if(w.commandType==="loadLidStack"&&w.result!=null){const{stackLabwareId:S,lidStackDefinition:g}=w.result;if(S!=null&&g!=null&&b[S]==null&&g.schemaVersion!==3)return{...b,[S]:{id:S,labwareDefURI:c.getLabwareDefURI(g),def:g,pythonName:"n/a"}}}return b},h),y=o.reduce((b,w)=>{const{id:S,pipetteName:g}=w,L=c.getPipetteSpecsV2(g),A=s.filter(k=>k.commandType==="pickUpTip"&&k.params.pipetteId===S).map(k=>_[k.params.labwareId]),E=Array.from(new Set(A.map(k=>k.labwareDefURI))),O=Array.from(new Set(A.map(k=>k.def)));return L==null||(b[S]={name:g,id:S,tiprackLabwareDef:O,tiprackDefURI:E,spec:L,pythonName:"n/a"}),b},{}),T=s.reduce((b,w)=>{if(w.commandType==="loadLidStack"&&w.result!=null){const{params:S}=w,g=ac(S);return{...b,stagingAreaEntities:{...b.stagingAreaEntities,...g}}}else if((w.commandType==="loadLabware"||w.commandType==="loadLid")&&w.result!=null){const{params:S}=w,g=ac(S);return{...b,stagingAreaEntities:{...b.stagingAreaEntities,...g}}}else if(w.commandType==="moveToAddressableArea"||w.commandType==="moveToAddressableAreaForDropTip"){const S=w.params.addressableAreaName,g=`${$()}:${S}`;let L=r_;S==="fixedTrash"?L="cutout12":S.includes("WasteChute")?L="cutoutD3":S.includes("movableTrash")&&(L=`cutout${S.split("movableTrash")[1]}`);let I=b.trashBinEntities;Object.values(b.trashBinEntities).some(E=>E.location===L)||(S.includes("movableTrash")?I={...b.trashBinEntities,[g]:{pythonName:"trash_bin_1",id:g,location:L}}:S==="fixedTrash"&&(I={...b.trashBinEntities,[g]:{pythonName:"trash_bin_1",id:g,location:L}}));let A=b.wasteChuteEntities;return S.includes("WasteChute")&&(A={[g]:{pythonName:"waste_chute",id:g,location:L}}),{...b,trashBinEntities:I,wasteChuteEntities:A}}return b},{wasteChuteEntities:{},trashBinEntities:{},stagingAreaEntities:{},runtimeParameters:{},gripperEntities:{},config:{OT_PD_DISABLE_MODULE_RESTRICTIONS:!0}});return{labwareEntities:_,pipetteEntities:y,moduleEntities:m,liquidEntities:u||p?f:{},...T}}const OE={A3:"A4",B3:"B4",C3:"C4",D3:"D4"};function vE(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?OE[i.params.location.slotName]:i.params.location.slotName,moduleState:t_[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,b)=>{const w=b.find(S=>S.kind==="onLabware");return w!=null&&(T[w.labwareId]=b),T},{}),_=p.reduce((T,b,w)=>{const S=h[b]??u[w];if(S!=null){const g=nc(S);T[b]={stack:g[0]===b?g:[b,...g]}}else{const g=i.params.location;c.locationIsOffDeck(g)?T[b]={stack:[b,g]}:"slotName"in g?T[b]={stack:[b,g.slotName]}:T[b]={stack:[b,"offDeck"]}}return T},{}),y=d!=null&&f!=null?[d,...nc(f)]:null;return{...s,..._,...d!=null&&y!=null?{[d]:{stack:y}}:{}}}else{const h=i.params.location,_=p.reduce((T,b)=>{if(c.locationIsOffDeck(h))T[b]={stack:[b,h]};else if("slotName"in h)T[b]={stack:[b,h.slotName]};else if("moduleId"in h){const w=h.moduleId;T[b]={stack:[b,w,n[w].slot]}}else T[b]={stack:[b,"offDeck"]};return T},{}),y=d!=null?[d,...m(h)]:null;return{...s,..._,...d!=null&&y!=null?{[d]:{stack:y}}:{}}}}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 yh(i).forEach(u=>{_h(s,u,"setStoredLabwareCount")}),s;if(i.commandType==="flexStacker/fill")return yh(i).forEach(u=>{_h(s,u,"fillCount")}),s}return s},{}),o=Jc({invariantContext:t,labwareLocations:a,moduleLocations:n,pipetteLocations:r});return{frame:{...bp(e,t,o),command:e[e.length-1]},invariantContext:t}}const _h=(e,t,r)=>{const 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t.includes("chute")||t.includes("waste")||t.startsWith("gripper")||t==="96channelwastechute"},Zy=e=>{const{stack:t,subjectLabwareId:r,moduleEntities:n,labwareEntityIds:o,modules:a}=e;if(t.length===0||t[0]!==r||t.length<2)return;const s=t[1];if(s===rt){const u=t[2];return u==null?void 0:{kind:"inStackerHopper",moduleId:u}}if(n[s]!=null)return{moduleId:s};if(o.has(s))return{labwareId:s};if(s==="offDeck")return"offDeck";if(s==="systemLocation")return"systemLocation";if(s==="wasteChuteLocation")return"wasteChuteLocation";if(vg(s))return{addressableAreaName:s};const i=Oy(s,a,n)??s;if(Object.entries(a).some(([u,p])=>n[u]?.type===c.FLEX_STACKER_MODULE_TYPE&&p.slot===i)){const u=za(i);if(u!=null)return{addressableAreaName:u}}return{slotName:s}},Pg=e=>typeof e=="object"&&e!==null&&"kind"in e&&e.kind==="inStackerHopper",Rg=e=>typeof e!="object"||e===null?!1:!Pg(e),Ng=(e,t)=>{const{id:r,def:n}=e,{id:o,def:a}=t,s=n.dimensions.xDimension,i=n.dimensions.yDimension,l=a.dimensions.xDimension,u=a.dimensions.yDimension;return s>l&&i>u?{containerLabwareId:r,containedLabwareId:o}:l>s&&u>i?{containerLabwareId:o,containedLabwareId:r}:null},yp=(e,t)=>{const r=new Map;for(const o of Object.keys(e)){const a=e[o].stackedOnNode;if(a==null||!Rg(a))continue;const s=JSON.stringify(a),i=r.get(s)??[];i.push(o),r.set(s,i)}const n={};for(const o of r.values()){if(o.length!==2)continue;const[a,s]=o,i=t[a],l=t[s];if(i==null||l==null)continue;const u=Ng(i,l);if(u==null)continue;const{containerLabwareId:p,containedLabwareId:d}=u;n[p]=d}return Object.keys(n).length===0?e:lr(e,(o,a)=>n[a]!=null?{...o,contains:n[a]}:o)},kg=(e,t,r)=>{const n=Object.keys(e.labware),o=new Set(n);let a=lr(e.labware,(s,i)=>{const l=s.stackedOnNode??Zy({stack:s.stack,subjectLabwareId:i,moduleEntities:t,labwareEntityIds:o,modules:e.modules});return l!=null?{...s,stackedOnNode:l}:{...s}});return a=yp(a,r),{...e,labware:a}};function Cg(e,t,r){const{runtimeParameters:n,labwareEntities:o}=t,a=O(e.labwareId,n);let s=null;if(typeof e.newLocation=="string"){const v=O(e.newLocation,n);v!=null&&(s=v)}else if("labwareId"in e.newLocation){const v=O(e.newLocation.labwareId,n);v!=null&&(s=v===e.newLocation.labwareId?e.newLocation:{labwareId:v})}else if("moduleId"in e.newLocation){const v=O(e.newLocation.moduleId,n);v!=null&&(s=v===e.newLocation.moduleId?e.newLocation:{moduleId:v})}else if("slotName"in e.newLocation){const v=O(e.newLocation.slotName,n);v!=null&&(s=v===e.newLocation.slotName?e.newLocation:{slotName:v})}else{const v=O(e.newLocation.addressableAreaName,n);v!=null&&(s=v===e.newLocation.addressableAreaName?e.newLocation:{addressableAreaName:v})}if(a==null||s==null){console.error(`forMoveLabware: arg resolved to null (labwareId=${String(a)}, newLocation=${String(s)})`);return}const{robotState:i}=r,{modules:l,labware:u}=i;if(u[a]==null)return;const p=ee(u[a].stack),d=Ha(u,p,a),f=d.indexOf(a),m=d.slice(0,f+1),h=c.getIsLid(o[a].def);let _=!1;const y=Object.entries(l).find(([v,{slot:R}])=>{const{type:M}=t.moduleEntities[v]??{};return M===c.FLEX_STACKER_MODULE_TYPE&&R===p})??null,I=y!=null&&y[1].moduleState.type===c.FLEX_STACKER_MODULE_TYPE?ar.map(v=>y[1].moduleState.labwareOnShuttle?.[v]).filter(v=>v!=null):[],b=I.includes(a)?I.slice(0,I.indexOf(a)+1):[];if(y!=null&&y[1].moduleState.type===c.FLEX_STACKER_MODULE_TYPE){const v=y[1].moduleState,R=ar.findIndex(M=>v.labwareOnShuttle?.[M]===a);if(R!==-1&&v.labwareOnShuttle!=null)for(const M of ar.slice(R,ar.length))if(M==="primaryLabwareId"){v.labwareOnShuttle=null;break}else v.labwareOnShuttle[M]=null}const w=s,S=Object.entries(l).find(([v,{slot:R}])=>{const{type:M}=t.moduleEntities[v]??{};return M===c.FLEX_STACKER_MODULE_TYPE&&typeof w=="object"&&("moduleId"in w&&w.moduleId===v||"slotName"in w&&R===w.slotName)})??null,[L,g]=S??[];if(L!=null&&g!=null){const v=b.length>0?b:go({slot:p,labwareState:u,modulesState:l}),R=v.indexOf(a),M=g.moduleState;if(R!==-1){const F=v.slice(0,R+1).toReversed();if(M.labwareOnShuttle==null&&(M.labwareOnShuttle={primaryLabwareId:"",adapterLabwareId:null,lidLabwareId:null}),F.length===3)for(let G=0;G<ar.length;G++){const Y=ar[G];M.labwareOnShuttle[Y]=F[G]}else if(F.length===2){const G=F.some(Y=>t.labwareEntities[Y].def.allowedRoles?.some(oe=>oe==="lid"))?["primaryLabwareId","lidLabwareId"]:["adapterLabwareId","primaryLabwareId"];for(let Y=0;Y<G.length;Y++){const oe=G[Y];M.labwareOnShuttle[oe]=F[Y]}}else F.length===1&&(M.labwareOnShuttle.primaryLabwareId=F[0])}}const T=[];if(c.locationIsOffDeck(s))T.push(s);else if("moduleId"in s)if(l[s.moduleId].moduleState.type===c.FLEX_STACKER_MODULE_TYPE)T.push(l[s.moduleId].slot);else if(t.moduleEntities[s.moduleId]?.type===c.VACUUM_MODULE_TYPE){const v=l[s.moduleId].slot,R=go({slot:v,labwareState:u,modulesState:l});R.length>0?T.push(...R):T.push(s.moduleId,v)}else T.push(s.moduleId,l[s.moduleId].slot);else if("slotName"in s){const{slotName:v}=s;v in u?(_=c.getIsPipettableLabware(o[v].def),T.push(...u[v].stack)):T.push(v)}else if("labwareId"in s){const v=s.labwareId;_=c.getIsPipettableLabware(o[v].def);const R=u[v].stack;T.push(...R)}else if("addressableAreaName"in s)if(Ao(s.addressableAreaName)){const v=Object.entries(l).find(([R])=>t.moduleEntities[R]?.type===c.VACUUM_MODULE_TYPE)?.[0];T.push(Ac),v!=null&&T.push(v),T.push(s.addressableAreaName)}else T.push(s.addressableAreaName);m.forEach((v,R)=>{if(u[v]!=null){const M=m.slice(R+1);i.labware[v]={...i.labware[v],stack:[v,...M,...T],...h&&_?{sterility:yc}:{}}}});const A=typeof s=="object"&&"labwareId"in s&&c.getIsPipettableLabware(o[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 v=za(l[s.moduleId].slot);v!=null&&(E={addressableAreaName:v})}else if(typeof s=="object"&&s!==null&&"moduleId"in s&&t.moduleEntities[s.moduleId]?.type===c.VACUUM_MODULE_TYPE){const v=l[s.moduleId].slot,R=go({slot:v,labwareState:u,modulesState:l}),M=R.length>0?R[0]:null;M!=null&&M in o&&(E={labwareId:M})}i.labware[a].stackedOnNode=E,A&&(i.labware[a].sterility=yc),i.labware=yp(lr(i.labware,v=>Tg(v,"contains")),o)}function Dg(e,t,r){const{runtimeParameters:n}=t,o=O(e.pipetteId,n),a=O(e.addressableAreaName,n);if(o==null||a==null){console.error(`forMoveToAddressableArea: arg resolved to null (pipetteId=${String(o)}, addressableAreaName=${String(a)})`);return}const{wasteChuteEntities:s,trashBinEntities:i}=t,l=a,u=c.WASTE_CHUTE_ADDRESSABLE_AREAS.includes(l),p=Object.values(i).find(m=>m.location===yy(l))?.id,d=u?Object.values(s)[0].id:p,{robotState:f}=r;f.pipettes[o]={...f.pipettes[o],entityId:d}}function Mg(e,t,r){const{runtimeParameters:n}=t,o=O(e.pipetteId,n),a=O(e.labwareId,n),s=O(e.wellName,n);if(o==null||a==null||s==null){console.error(`forMoveToWell: arg resolved to null (pipetteId=${String(o)}, labwareId=${String(a)}, wellName=${String(s)})`);return}const{robotState:i}=r;i.pipettes[o]={...i.pipettes[o],entityId:a,wellName:s}}function Fg(e,t,r){const{runtimeParameters:n}=t,o=O(e.pipetteId,n),a=O(e.labwareId,n),s=O(e.wellName,n);if(o==null||a==null||s==null){console.error(`forPickUpTip: arg resolved to null (pipetteId=${String(o)}, labwareId=${String(a)}, wellName=${String(s)})`);return}const i=t.pipetteEntities[o].spec,l=t.labwareEntities[a].def;if(!c.getIsTiprack(l))throw new Error(`forPickUpTip expected ${a} to be a tiprack`);const u=r.robotState.tipState,p=r.robotState.pipettes[o].nozzles,d=r.robotState.pipettes[o].primaryNozzle,f=Tp(p,i),m=(y,I)=>y.find(b=>b.includes(I)),h=(y,I)=>{const b=y.findIndex(S=>S.includes(I));if(b===-1)return null;const w=y[b].indexOf(I);return y.map(S=>S[w])},_=(y,I)=>{const b=c.PARTIAL_NOZZLE_MAP[d],w=y.findIndex(A=>A.includes(I)),S=y[w].indexOf(I),L=y[w];if(L.length-S<b){const A=L.length-b;return L.slice(A,L.length)}const T=S+b;return L.slice(S,Math.min(T,L.length))};if(u.pipettes[o].hasTip=!0,u.pipettes[o].tiprackURI=a,f===c.SINGLE)u.tipracks[a][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(I){u.tipracks[a][I]=_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(I){u.tipracks[a][I]=_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(I){u.tipracks[a][I]=_e})}else if(f===c.ALL)if(i.channels===96)l.ordering.reduce((I,b)=>I.concat(b),[]).forEach(function(I){u.tipracks[a][I]=_e});else{const y=m(l.ordering,s);y==null&&console.error(`Invalid primary well for tip pickup: ${s}`),y?.forEach(function(I){u.tipracks[a][I]=_e})}else if(i.channels===1)u.tipracks[a][s]=_e;else if(i.channels===96)l.ordering.reduce((I,b)=>I.concat(b),[]).forEach(function(I){u.tipracks[a][I]=_e});else{const y=m(l.ordering,s);y==null&&console.error(`Invalid primary well for tip pickup: ${s}`),y?.forEach(function(I){u.tipracks[a][I]=_e})}r.robotState.pipettes[o].tiprackId=a,r.robotState.pipettes[o].tipWell=s}const Ug={clean:qo,empty:_e,used:or};function $g(e,t,r){const{labwareId:n,wellNames:o,tipWellState:a="clean"}=e,s=Ug[a],i=r.robotState.tipState.tipracks[n];i!=null&&o.forEach(l=>{i[l]=s})}const Qr=(e,t)=>{const r=kt(e,t);return r.type===c.THERMOCYCLER_MODULE_TYPE?r:(console.error(`Thermocycler state updater expected ${t} moduleState to be thermocycler, but it was ${r.type}`),{})},qg=(e,t,r)=>{const{runtimeParameters:n}=t,o=O(e.moduleId,n),a=D(e.celsius,n);if(o==null||a==null){console.error(`forThermocyclerSetTargetBlockTemperature: arg resolved to null (moduleId=${String(o)}, celsius=${String(a)})`);return}const{robotState:s}=r,i=Qr(s,o);i.currentBlockActivity={type:"blockTargetTemp",blockTargetTemp:a}},Vg=(e,t,r)=>{const{runtimeParameters:n}=t,o=O(e.moduleId,n),a=D(e.celsius,n);if(o==null||a==null){console.error(`forThermocyclerSetTargetLidTemperature: arg resolved to null (moduleId=${String(o)}, celsius=${String(a)})`);return}const{robotState:s}=r,i=Qr(s,o);i.lidTargetTemp=a},Bg=(e,t,r)=>{},xg=(e,t,r)=>{},zg=(e,t,r)=>{},Hg=(e,t,r)=>{const{runtimeParameters:n}=t,o=O(e.moduleId,n);if(o==null){console.error(`forThermocyclerDeactivateBlock: arg resolved to null (moduleId=${String(o)})`);return}const{robotState:a}=r,s=Qr(a,o);s.currentBlockActivity={type:"blockDeactivated"}},jg=(e,t,r)=>{const{runtimeParameters:n}=t,o=O(e.moduleId,n);if(o==null){console.error(`forThermocyclerDeactivateLid: arg resolved to null (moduleId=${String(o)})`);return}const{robotState:a}=r,s=Qr(a,o);s.lidTargetTemp=null},Wg=(e,t,r)=>{const{runtimeParameters:n}=t,o=O(e.moduleId,n);if(o==null){console.error(`forThermocyclerCloseLid: arg resolved to null (moduleId=${String(o)})`);return}const{robotState:a}=r,s=Qr(a,o);s.lidOpen=!1},Gg=(e,t,r)=>{const{runtimeParameters:n}=t,o=O(e.moduleId,n);if(o==null){console.error(`forThermocyclerOpenLid: arg resolved to null (moduleId=${String(o)})`);return}const{robotState:a}=r,s=Qr(a,o);s.lidOpen=!0};function yh(e,t){const r=D(e.celsius,t),n=D(e.holdSeconds,t);return r==null||n==null?(console.error(`resolveProfileStep: arg resolved to null (celsius=${String(r)}, holdSeconds=${String(n)})`),null):{celsius:r,holdSeconds:n}}function Yg(e,t){const r=[];for(const n of e)if("steps"in n){const o=D(n.repetitions,t);if(o==null)return console.error(`resolveProfileElements: arg resolved to null (repetitions=${String(o)})`),null;const a=[];for(const s of n.steps){const i=yh(s,t);if(i==null)return console.error("resolveProfileElements: arg resolved to null (step=null)"),null;a.push(i)}r.push({steps:a,repetitions:o})}else{const o=yh(n,t);if(o==null)return console.error("resolveProfileElements: arg resolved to null (step=null)"),null;r.push(o)}return r}const Kg=(e,t,r)=>{const{profile:n,...o}=e;Xy({profileElements:n,...o},t,r)},Xy=(e,t,r)=>{const n=NaN+U();Qy({...e,taskId:n},t,r)&&Jy(n,r,c.THERMOCYCLER_MODULE_TYPE)},Qy=(e,t,r)=>{const{runtimeParameters:n}=t,o=O(e.moduleId,n),a=Yg(e.profileElements,n);if(o==null||a==null)return console.error(`forThermocyclerStartRunExtendedProfile: arg resolved to null (moduleId=${String(o)}, profileElements=${String(a)})`),!1;let s=null;if(e.taskId!=null){const u=O(e.taskId,n);if(u==null)return console.error(`forThermocyclerStartRunExtendedProfile: arg resolved to null (taskId=${String(u)})`),!1;s=u}const{robotState:i}=r,l=Qr(i,o);return l.currentBlockActivity={type:"profile",profileElements:a,taskId:s},l.numProfilesStarted++,!0},Zg=e=>{if(e.currentBlockActivity.type==="profile"){const t=Xg(e.currentBlockActivity.profileElements);return e.currentBlockActivity=t!=null?{type:"blockTargetTemp",blockTargetTemp:t}:{type:"blockDeactivated"},!0}else return!1};function Xg(e){const t=sp(gp(e));return t!=null?t.celsius:null}const Qg=(e,t)=>{const[r,n]=[e.ordering,t.ordering];if(r.length!==n.length)return!1;for(let o=0;o<r.length;o++){const[a,s]=[r[o],n[o]];if(a.length!==s.length)return!1}return!0},bp=(e,t,r)=>{const{labware:n,liquidState:o}=t,s=Ha(n,e).filter(i=>i in r&&c.getIsPipettableLabware(r[i].def));if(s.length===1){const i=o.labware[s[0]];Object.entries(i).forEach(([l,u])=>{i[l]={}});return}if(s.length===2){const i=s[0],l=s[1];if(!Qg(r[i].def,r[l].def))return;const u=o.labware[i],p=o.labware[l];Object.entries(p).forEach(([d,f])=>{const m=u[d];Object.entries(m).forEach(([h,{volume:_}])=>{f[h]={volume:h in f?f[h].volume+_:_}}),u[d]={}})}},Jg=(e,t,r)=>{const n=O(e.moduleId,t.runtimeParameters);if(n==null){console.error(`forVacuumOpenVent: arg resolved to null (moduleId=${String(n)})`);return}const{robotState:o}=r,a=pt(o,n);a!=null&&(a.ventStatus=Lc)},eE=(e,t,r)=>{const n=O(e.moduleId,t.runtimeParameters);if(n==null){console.error(`forVacuumCloseVent: arg resolved to null (moduleId=${String(n)})`);return}const{robotState:o}=r,a=pt(o,n);a!=null&&(a.ventStatus=Vo)},tE=(e,t,r)=>{const{runtimeParameters:n,labwareEntities:o}=t,a=O(e.moduleId,n),s=D(e.gaugePressure,n),i=e.duration==null?void 0:D(e.duration,n),l=e.ventAfter==null?!0:je(e.ventAfter,n);if(a==null||s==null||i===null||l==null){console.error(`forVacuumSetPumpPressure: arg resolved to null (moduleId=${String(a)}, gaugePressure=${String(s)}, duration=${String(i)}, ventAfter=${String(l)})`);return}const{taskId:u}=e,{robotState:p}=r,d=pt(p,a);d!=null&&(bp(a,p,o),i==null||u==null?d.currentPumpActivity={type:"indefiniteHold",mode:sc,targetPressure:s}:(d.currentPumpActivity={type:"timedHold",mode:sc,targetPressure:s,durationSeconds:i,taskId:u,ventAfter:l},d.numPumpActivitiesStarted++),d.ventStatus=Vo)},rE=(e,t,r)=>{const{runtimeParameters:n,labwareEntities:o}=t,a=O(e.moduleId,n),s=D(e.percentPower,n),i=e.duration==null?void 0:D(e.duration,n),l=e.ventAfter==null?!0:je(e.ventAfter,n);if(a==null||s==null||i===null||l==null){console.error(`forVacuumSetPumpPower: arg resolved to null (moduleId=${String(a)}, percentPower=${String(s)}, duration=${String(i)}, ventAfter=${String(l)})`);return}const{taskId:u}=e,{robotState:p}=r,d=pt(p,a);d!=null&&(bp(a,p,o),i==null||u==null?d.currentPumpActivity={type:"indefiniteHold",mode:ac,targetPower:s}:(d.currentPumpActivity={type:"timedHold",mode:ac,targetPower:s,durationSeconds:i,taskId:u,ventAfter:l},d.numPumpActivitiesStarted++),d.ventStatus=Vo)},nE=(e,t,r)=>{const n=O(e.moduleId,t.runtimeParameters);if(n==null){console.error(`forVacuumStopPump: arg resolved to null (moduleId=${String(n)})`);return}const{robotState:o}=r,a=pt(o,n);a!=null&&(a.currentPumpActivity={type:"pumpDeactivated"})},oE=(e,t,r)=>{const{runtimeParameters:n,labwareEntities:o}=t,a=O(e.moduleId,n),s=je(e.ventAfter,n);if(a==null||s==null){console.error(`forVacuumStartRunProfile: arg resolved to null (moduleId=${String(a)}, ventAfter=${String(s)})`);return}const{robotState:i}=r,l=pt(i,a),{taskId:u,profile:p}=e;l==null||u==null||(bp(a,i,o),l.currentPumpActivity={type:"profile",profileElements:p,taskId:u,ventAfter:s},l.numPumpActivitiesStarted++)},aE=e=>{if(e.currentPumpActivity.type==="timedHold"||e.currentPumpActivity.type==="profile"){const t=e.currentPumpActivity.ventAfter;return e.currentPumpActivity={type:"pumpDeactivated"},e.ventStatus=t?Lc:Vo,!0}return!1};function sE(e,t,r){const{runtimeParameters:n}=t;for(const o of e.task_ids){const a=O(o,n);a==null&&console.error(`forWaitForTasks: arg resolved to null (taskId=${String(a)})`),a!=null&&Jy(a,r)||r.warnings.push(Nw())}}const Jy=(e,t,r)=>{const{robotState:n}=t,o=Object.values(n.modules).find(a=>{if(r&&a.moduleState.type!==r)return!1;const s=a.moduleState.type==="thermocyclerModuleType"&&a.moduleState.currentBlockActivity.type==="profile"&&a.moduleState.currentBlockActivity.taskId===e,i=a.moduleState.type==="vacuumModuleType"&&(a.moduleState.currentPumpActivity.type==="timedHold"||a.moduleState.currentPumpActivity.type==="profile")&&a.moduleState.currentPumpActivity.taskId===e;return s||i});return o==null?!1:o.moduleState.type==="thermocyclerModuleType"?Zg(o.moduleState):o.moduleState.type==="vacuumModuleType"?aE(o.moduleState):(console.log(`unexpected module type with task: ${o.moduleState.type}`),!1)},jn=(e,t)=>{const r=kt(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 ${r.type}`),{})},iE=(e,t,r)=>{const{robotState:n}=r,{runtimeParameters:o}=t,a=O(e.moduleId,o),s=D(e.celsius,o);if(a==null||s==null){console.error(`forHeaterShakerSetTargetTemperature: arg resolved to null (moduleId=${String(a)}, celsius=${String(s)})`);return}const i=jn(n,a);i.targetTemp=s},lE=(e,t,r)=>{const{robotState:n}=r,{runtimeParameters:o}=t,a=O(e.moduleId,o);if(a==null){console.error(`forHeaterShakerDeactivateHeater: arg resolved to null (moduleId=${String(a)})`);return}const s=jn(n,a);s.targetTemp=null},uE=(e,t,r)=>{const{robotState:n}=r,{runtimeParameters:o}=t,a=O(e.moduleId,o),s=D(e.rpm,o);if(a==null||s==null){console.error(`forHeaterShakerSetTargetShakeSpeed: arg resolved to null (moduleId=${String(a)}, rpm=${String(s)})`);return}const i=jn(n,a);i.targetSpeed=s},cE=(e,t,r)=>{const{robotState:n}=r,{runtimeParameters:o}=t,a=O(e.moduleId,o);if(a==null){console.error(`forHeaterShakerStopShake: arg resolved to null (moduleId=${String(a)})`);return}const s=jn(n,a);s.targetSpeed=null},pE=(e,t,r)=>{const{robotState:n}=r,{runtimeParameters:o}=t,a=O(e.moduleId,o);if(a==null){console.error(`forHeaterShakerOpenLatch: arg resolved to null (moduleId=${String(a)})`);return}const s=jn(n,a);s.latchOpen=!0},dE=(e,t,r)=>{const{robotState:n}=r,{runtimeParameters:o}=t,a=O(e.moduleId,o);if(a==null){console.error(`forHeaterShakerCloseLatch: arg resolved to null (moduleId=${String(a)})`);return}const s=jn(n,a);s.latchOpen=!1},fE=(e,t,r)=>{const{runtimeParameters:n}=t,o=O(e.pipetteId,n);if(o==null){console.error(`forBlowOutInPlace: arg resolved to null (pipetteId=${String(o)})`);return}const{robotState:a}=r,s=a.pipettes[o].entityId??"";Ya({invariantContext:t,pipetteId:o,prevLiquidState:a.liquidState,useFullVolume:!0,robotStateAndWarnings:r,entityId:s})},mE=(e,t,r)=>{const{runtimeParameters:n}=t,o=O(e.pipetteId,n);if(o==null){console.error(`forDropTipInPlace: arg resolved to null (pipetteId=${String(o)})`);return}const{robotState:a}=r,s=a.pipettes[o].entityId??"";a.tipState.pipettes[o]={hasTip:!1,tiprackURI:null},Ya({invariantContext:t,prevLiquidState:a.liquidState,pipetteId:o,useFullVolume:!0,robotStateAndWarnings:r,entityId:s}),a.pipettes[o].tiprackId=void 0};function eb(e,t){e.type===c.MAGNETIC_MODULE_TYPE&&(e.engaged=t)}function hE(e,t,r){const{robotState:n}=r,o=O(e.moduleId,t.runtimeParameters);if(o==null){console.error(`forEngageMagnet: arg resolved to null (moduleId=${String(o)})`);return}const a=kt(n,o);eb(a,!0)}function _E(e,t,r){const{robotState:n}=r,o=O(e.moduleId,t.runtimeParameters);if(o==null){console.error(`forDisengageMagnet: arg resolved to null (moduleId=${String(o)})`);return}const a=kt(n,o);eb(a,!1)}const qu=(e,t)=>{if(t==null)return console.error("expected to find defURI but could not in getLabwareByDefURI"),null;const r=e.findIndex(o=>o.labwareDefURI===t);if(r===-1)return null;const[n]=e.splice(r,1);return n.id},tb=(e,t,r,n)=>{const o=e.labwareInHopper??[];t.forEach(a=>{const{primaryLabwareId:s,adapterLabwareId:i,lidLabwareId:l}=a;r.labware[s]={stack:[s,...l!=null?[l]:[],...n]},i!=null&&(r.labware[i]={stack:[i,s,...l!=null?[l]:[],...n]}),l!=null&&(r.labware[l]={stack:[l,...n]}),o.push({primaryLabwareId:s,adapterLabwareId:i??null,lidLabwareId:l??null})}),e.labwareInHopper=o},rb=(e,t,r,n,o,a,s,i)=>{const u=Object.entries(e.labware).filter(([d,f])=>f[a]===t[a]).map(([d])=>d).map(d=>r[d]),p=[];for(let d=0;d<n;d++){const f=qu(u,t.storedLabwareDetails?.primaryLabwareURI),m=s!=null?qu(u,t.storedLabwareDetails?.adapterLabwareURI):null,h=i!=null?qu(u,t.storedLabwareDetails?.lidLabwareURI):null;f!=null&&(e.labware[f]={stack:[f,...h!=null?[h]:[],...o]},m!=null&&(e.labware[m]={stack:[m,f,...h!=null?[h]:[],...o]}),h!=null&&(e.labware[h]={stack:[h,...o]}),p.push({primaryLabwareId:f,adapterLabwareId:m,lidLabwareId:h})),t.labwareInHopper=p}},yE=(e,t,r)=>{const{robotState:n}=r,{runtimeParameters:o}=t,a=O(e.moduleId,o),s=e.count==null?void 0:D(e.count,o);if(a==null||s===null){console.error(`forFlexStackerEmpty: arg resolved to null (moduleId=${String(a)}, count=${String(s)})`);return}const i=Object.entries(n.labware).filter(([,u])=>u.stack.includes(rt)&&u.stack.includes(a)),l=It(n,a);l!=null&&l.labwareInHopper!=null&&(s!=null?l.labwareInHopper=l.labwareInHopper.slice(0,s):l.labwareInHopper=[]),i.forEach(([u])=>{n.labware[u]={...n.labware[u],stack:[u,c.SYSTEM_LOCATION]}})},bE=(e,t,r)=>{const{robotState:n}=r,{labwareEntities:o,runtimeParameters:a}=t,s=O(e.moduleId,a),i=e.labware.map(b=>O(b,a));if(s==null||i.some(b=>b==null)){console.error(`forFlexStackerFillItems: arg resolved to null (moduleId=${String(s)}, labware=${String(i)})`);return}const l=i,u=n.modules[s].slot,p=It(n,s);if(p==null||p.storedLabwareDetails==null)return;const{primaryLabwareURI:d,adapterLabwareURI:f,lidLabwareURI:m}=p.storedLabwareDetails,h=[];for(const b of l){const w=o[b].labwareDefURI;if(w===d)h.push({primaryLabwareId:b,adapterLabwareId:null,lidLabwareId:null});else if(w===f){const S=h[h.length-1];S&&(S.adapterLabwareId=b)}else if(w===m){const S=h[h.length-1];S&&(S.lidLabwareId=b)}}const _=[rt,s,u];for(const b of h){const w=[b.adapterLabwareId,b.primaryLabwareId,b.lidLabwareId,..._].filter(L=>L!=null);n.labware[b.primaryLabwareId]={...n.labware[b.primaryLabwareId],stack:w.slice(w.indexOf(b.primaryLabwareId))},b.adapterLabwareId!=null&&(n.labware[b.adapterLabwareId]={...n.labware[b.adapterLabwareId],stack:w.slice(w.indexOf(b.adapterLabwareId))}),b.lidLabwareId!=null&&(n.labware[b.lidLabwareId]={...n.labware[b.lidLabwareId],stack:w.slice(w.indexOf(b.lidLabwareId))});let S=null;for(const L of w)o[L]!=null&&(S==null?n.labware[L].stackedOnNode={kind:"inStackerHopper",moduleId:s}:n.labware[L].stackedOnNode={labwareId:S},S=L)}const y=p.labwareInHopper??[],I=h.map(({primaryLabwareId:b,adapterLabwareId:w,lidLabwareId:S})=>({primaryLabwareId:b,adapterLabwareId:w,lidLabwareId:S}));p.labwareInHopper=[...y,...I]},Vu=(e,t)=>{const r=O(e.loadName,t),n=O(e.namespace,t),o=D(e.version,t);return r==null||n==null||o==null?null:{loadName:r,namespace:n,version:o}},IE=(e,t,r)=>{const{robotState:n}=r,{labwareEntities:o,runtimeParameters:a}=t,s=O(e.moduleId,a),i=Vu(e.primaryLabware,a),l=e.adapterLabware==null?null:Vu(e.adapterLabware,a),u=e.lidLabware==null?null:Vu(e.lidLabware,a),p=e.initialCount==null?void 0:D(e.initialCount,a);if(s==null||i==null||e.adapterLabware!=null&&l==null||e.lidLabware!=null&&u==null||p===null){console.error(`forFlexStackerSetStoredLabware: arg resolved to null (moduleId=${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=O(_.primaryLabwareId,a),I=_.adapterLabwareId==null?null:O(_.adapterLabwareId,a),b=_.lidLabwareId==null?null:O(_.lidLabwareId,a);if(y==null||_.adapterLabwareId!=null&&I==null||_.lidLabwareId!=null&&b==null){console.error(`forFlexStackerSetStoredLabware: arg resolved to null (primaryLabwareId=${String(y)}, adapterLabwareId=${String(I)}, lidLabwareId=${String(b)})`);return}d.push({primaryLabwareId:y,adapterLabwareId:I,lidLabwareId:b})}}const f=n.modules[s].slot,m=It(n,s),h=[rt,s,f];m!=null&&(m.storedLabwareDetails={primaryLabwareURI:`${i.namespace}/${i.loadName}/${i.version}`,adapterLabwareURI:l!=null?`${l.namespace}/${l.loadName}/${l.version}`:null,lidLabwareURI:u!=null?`${u.namespace}/${u.loadName}/${u.version}`:null},p!=null?rb(n,m,o,p,h,"setStoredLabwareCount",l?.loadName,u?.loadName):d!=null&&tb(m,d,n,h),m.setStoredLabwareCount=(m?.setStoredLabwareCount??0)+1)},TE=(e,t,r)=>{const{robotState:n}=r,{labwareEntities:o,runtimeParameters:a}=t,s=O(e.moduleId,a),i=e.labware.map(T=>O(T,a));if(s==null||i.some(T=>T==null)){console.error(`forFlexStackerSetStoredLabwareItems: arg resolved to null (moduleId=${String(s)}, labware=${String(i)})`);return}const l=i,u=n.modules[s].slot,p=It(n,s);if(p==null)return;const d=l.map(T=>T.split(":")[1]),f=new Set(d),m=Array.from(f),h=m.find(T=>Object.values(o).find(A=>A.labwareDefURI===T&&!A.def.allowedRoles?.includes("lid")&&!A.def.allowedRoles?.includes("adapter"))),_=m.find(T=>Object.values(o).find(A=>A.labwareDefURI===T&&A.def.allowedRoles?.includes("adapter"))),y=m.find(T=>Object.values(o).find(A=>A.labwareDefURI===T&&A.def.allowedRoles?.includes("lid")));if(h==null)throw new Error(`expected to find primaryLabwareURI for storedLabwareDetails but could not with labware ${l}`);p.storedLabwareDetails={primaryLabwareURI:h,adapterLabwareURI:_??null,lidLabwareURI:y??null};const I=[];for(const T of l){const A=o[T].labwareDefURI;if(A===h)I.push({primary:T,adapter:null,lid:null});else if(A===_){const E=I[I.length-1];E&&(E.adapter=T)}else if(A===y){const E=I[I.length-1];E&&(E.lid=T)}}const b=[rt,s,u];for(const T of I){const A=[T.adapter,T.primary,T.lid,...b].filter(E=>E!=null);n.labware[T.primary]={...n.labware[T.primary],stack:A.slice(A.indexOf(T.primary))},T.adapter!=null&&(n.labware[T.adapter]={...n.labware[T.adapter],stack:A.slice(A.indexOf(T.adapter))}),T.lid!=null&&(n.labware[T.lid]={...n.labware[T.lid],stack:A.slice(A.indexOf(T.lid))})}const w=p.labwareInHopper??[],S=I.map(T=>({primaryLabwareId:T.primary,adapterLabwareId:T.adapter,lidLabwareId:T.lid})),L=new Map(w.map(T=>[T.primaryLabwareId,T])),g=[];for(const T of S)g.push(T),L.delete(T.primaryLabwareId);for(const T of w)L.has(T.primaryLabwareId)&&g.push(T);p.labwareInHopper=g},wE=(e,t,r)=>{const{robotState:n}=r,{labwareEntities:o,runtimeParameters:a}=t,s=O(e.moduleId,a),i=e.count==null?void 0:D(e.count,a);if(s==null||i===null){console.error(`forFlexStackerFill: arg resolved to null (moduleId=${String(s)}, count=${String(i)})`);return}const l=n.modules[s].slot,u=It(n,s),p=[rt,s,l];if(u!=null){const d=u.storedLabwareDetails?.adapterLabwareURI,f=u.storedLabwareDetails?.lidLabwareURI;if(i!=null)rb(n,u,o,i,p,"fillCount",d,f);else if(e.labwareToStore!=null){const m=[];for(const h of e.labwareToStore){const _=O(h.primaryLabwareId,a),y=h.adapterLabwareId==null?null:O(h.adapterLabwareId,a),I=h.lidLabwareId==null?null:O(h.lidLabwareId,a);if(_==null||h.adapterLabwareId!=null&&y==null||h.lidLabwareId!=null&&I==null){console.error(`forFlexStackerFill: arg resolved to null (primaryLabwareId=${String(_)}, adapterLabwareId=${String(y)}, lidLabwareId=${String(I)})`);return}m.push({primaryLabwareId:_,adapterLabwareId:y,lidLabwareId:I})}tb(u,m,n,p)}u.fillCount=(u?.fillCount??0)+1}},SE=(e,t,r)=>{const{robotState:n}=r,{runtimeParameters:o}=t,a=O(e.moduleId,o);if(a==null){console.error(`forFlexStackerRetrieve: arg resolved to null (moduleId=${String(a)})`);return}const s=It(n,a),i=n.modules[a].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 ar){const h=p[m];if(h!=null){if(d.unshift(h),n.labware[h].stack=[...d],f==null){const _=za(i);_!=null?n.labware[h].stackedOnNode={addressableAreaName:_}:console.warn(`Could not find an addressable area for retrieved labware in stacker module ${a} at slot ${i}`)}else n.labware[h].stackedOnNode={labwareId:f};f=h}}}}},gE=(e,t,r)=>{const{robotState:n}=r,{runtimeParameters:o}=t,a=O(e.moduleId,o);if(a==null){console.error(`forFlexStackerStore: arg resolved to null (moduleId=${String(a)})`);return}const s=It(n,a),i=n.modules[a].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 ar){const d=l[p];d!=null&&(n.labware[d].stack=[d,rt,a,i],u==null?(n.labware[d].stackedOnNode={kind:"inStackerHopper",moduleId:a},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 nb(e,t,r){e.type===c.TEMPERATURE_MODULE_TYPE&&(e.targetTemperature=t,e.status=r)}function EE(e,t,r){const{robotState:n}=r,{runtimeParameters:o}=t,a=O(e.moduleId,o),s=D(e.celsius,o);if(a==null||s==null){console.error(`forSetTemperature: arg resolved to null (moduleId=${String(a)}, celsius=${String(s)})`);return}const i=kt(n,a);nb(i,s,Ec)}function AE(e,t,r){const{robotState:n}=r,{runtimeParameters:o}=t,a=O(e.moduleId,o),s=D(e.celsius,o);if(a==null||s==null){console.error(`forAwaitTemperature: arg resolved to null (moduleId=${String(a)}, celsius=${String(s)})`);return}const i=kt(n,a);i.type===c.TEMPERATURE_MODULE_TYPE&&s===i.targetTemperature&&(i.status=gc)}function LE(e,t,r){const{robotState:n}=r,{runtimeParameters:o}=t,a=O(e.moduleId,o);if(a==null){console.error(`forDeactivateTemperature: arg resolved to null (moduleId=${String(a)})`);return}const s=kt(n,a);nb(s,null,$o)}function ob(e,t,r){if(!e)throw new Error("undefined command passed to getNextRobotStateAndWarning");switch(e.commandType){case"aspirateWhileTracking":case"aspirate":case"aspirateInPlace":if(e.meta?.isAirGap===!0)break;MS(e.params,t,r);break;case"airGapInPlace":TS(e.params,t,r);break;case"dispenseWhileTracking":case"dispense":case"dispenseInPlace":if(e.meta?.isAirGap===!0)break;$S(e.params,t,r);break;case"blowout":FS(e.params,t,r);break;case"dropTip":{const{pipetteId:n,labwareId:o,wellName:a}=e.params;qS({pipette:n,dropTipLocation:o,wellName:a},t,r);break}case"pickUpTip":Fg(e.params,t,r);break;case"setTipState":$g(e.params,t,r);break;case"magneticModule/engage":hE(e.params,t,r);break;case"magneticModule/disengage":_E(e.params,t,r);break;case"moveLabware":Cg(e.params,t,r);break;case"waitForTasks":sE(e.params,t,r);break;case"flexStacker/setStoredLabware":IE(e.params,t,r);break;case"flexStacker/setStoredLabwareItems":TE(e.params,t,r);break;case"flexStacker/prepareShuttle":case"flexStacker/closeLatch":case"flexStacker/openLatch":break;case"flexStacker/empty":yE(e.params,t,r);break;case"flexStacker/fill":wE(e.params,t,r);break;case"flexStacker/fillItems":bE(e.params,t,r);break;case"flexStacker/retrieve":SE(e.params,t,r);break;case"flexStacker/store":gE(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":Dg(e.params,t,r);break;case"moveToWell":Mg(e.params,t,r);break;case"loadLiquid":VS(e.params,t,r);break;case"dropTipInPlace":mE(e.params,t,r);break;case"blowOutInPlace":fE(e.params,t,r);break;case"configureNozzleLayout":US(e.params,t,r);break;case"temperatureModule/setTargetTemperature":EE(e.params,t,r);break;case"temperatureModule/deactivate":LE(e.params,t,r);break;case"temperatureModule/waitForTemperature":{const{moduleId:n,celsius:o}=e.params;o!=null&&AE({moduleId:n,celsius:o},t,r);break}case"thermocycler/setTargetBlockTemperature":qg(e.params,t,r);break;case"thermocycler/setTargetLidTemperature":Vg(e.params,t,r);break;case"thermocycler/waitForBlockTemperature":Bg(e.params);break;case"thermocycler/waitForLidTemperature":xg(e.params);break;case"thermocycler/deactivateBlock":Hg(e.params,t,r);break;case"thermocycler/deactivateLid":jg(e.params,t,r);break;case"thermocycler/closeLid":Wg(e.params,t,r);break;case"thermocycler/openLid":Gg(e.params,t,r);break;case"thermocycler/runProfile":Kg(e.params,t,r);break;case"thermocycler/runExtendedProfile":Xy(e.params,t,r);break;case"thermocycler/startRunExtendedProfile":Qy(e.params,t,r);break;case"thermocycler/awaitProfileComplete":zg(e.params);break;case"heaterShaker/deactivateHeater":lE(e.params,t,r);break;case"heaterShaker/setTargetTemperature":iE(e.params,t,r);break;case"heaterShaker/setAndWaitForShakeSpeed":case"heaterShaker/setShakeSpeed":uE(e.params,t,r);break;case"heaterShaker/deactivateShaker":cE(e.params,t,r);break;case"heaterShaker/openLabwareLatch":pE(e.params,t,r);break;case"heaterShaker/closeLabwareLatch":dE(e.params,t,r);break;case"heaterShaker/waitForTemperature":break;case"absorbanceReader/openLid":yS(e.params,t,r);break;case"absorbanceReader/closeLid":bS(e.params,t,r);break;case"absorbanceReader/initialize":IS(e.params,t,r);break;case"absorbanceReader/read":break;case"vacuumModule/startSetVacuumPressure":tE(e.params,t,r);break;case"vacuumModule/startSetVacuumPower":rE(e.params,t,r);break;case"vacuumModule/openVent":Jg(e.params,t,r);break;case"vacuumModule/closeVent":eE(e.params,t,r);break;case"vacuumModule/stopVacuum":nE(e.params,t,r);break;case"vacuumModule/startRunProfile":oE({moduleId:e.params.moduleId,profile:e.params.steps,ventAfter:e.params.ventAfter??!0,taskId:e.params.taskId},t,r);break;default:console.error(`unknown command: ${e.commandType} passed to getNextRobotStateAndWarning`)}}function ab(e,t,r){return qy({warnings:[],robotState:r},o=>{ob(e,t,o)})}function Ip(e,t,r){const n=Vy(e);return qy({warnings:[],robotState:r},a=>{n.forEach(s=>{ob(s,t,a)})})}const OE=(e,t,r)=>{const n=e.reduce((o,a,s)=>{const i=o.timeline.length===0?r:sp(o.timeline).robotState;if(o.errors!=null)return o;const l=a(t,i);if("errors"in l)return{timeline:o.timeline,errors:l.errors};const p=Vy(l.commands).reduce((f,m)=>ab(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:[...o.timeline,d],errors:null}},{timeline:[],errors:null});return{timeline:n.timeline,errors:n.errors}},Wn=(e,t)=>{const r=t[e]?.stack;return r!=null?ee(r):""},Gn=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},Yn=e=>{const{pipette:t,labware:r,invariantContext:n,prevRobotState:o}=e;if(n.config.OT_PD_DISABLE_MODULE_RESTRICTIONS)return!1;const a=t?n.pipetteEntities[t]:null,s=r?ee(o.labware[r]?.stack):null;if(!t||!r||!a||!s)return!1;const i=Object.keys(n.moduleEntities).some(l=>{const u=n.moduleEntities[l].model;if(Yh.includes(u)){const p=o.modules[l]?.slot;return p==="1"&&s==="4"||p==="3"&&s==="6"}else return!1});return c.GEN_ONE_MULTI_PIPETTES.includes(a.name)&&i},pe=(e,t,r)=>{const n=e.reduce((o,a)=>{if(o.errors.length>0)return o;const s=a(t,o.robotState);if("errors"in s)return{robotState:o.robotState,commands:o.commands,errors:s.errors,warnings:o.warnings};const i=[...o.commands,...s.commands],l=[...o.python?[o.python]:[],...s.python?[s.python]:[]].join(`
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CE(e,t,r){const{labware:n,modules:o,pipettes:a,commands:s,liquids:i}=e,l=t.protocolType==="python"?t.apiVersion:null,u=l!=null&&l[0]>=NE&&l[1]>=kE,p=t.protocolType==="json"&&r>=RE,d=c.getLabwareDefinitionsByURIForProtocol(s),f=i.reduce((b,w)=>{const{id:S,description:L,displayName:g,displayColor:T}=w;return{...b,[S]:{description:L,displayName:g??"Unknown Liquid",pythonName:"n/a",displayColor:T??"#B7B8B9",liquidGroupId:S}}},{}),m=o.reduce((b,w)=>{const{id:S,model:L}=w;return{...b,[S]:{id:S,type:c.getModuleType(L),model:L,pythonName:"n/a"}}},{}),h=n.reduce((b,w)=>{const{id:S,definitionUri:L}=w,g=d[L];return g==null||g.schemaVersion===3?b:{...b,[S]:{id:S,labwareDefURI:L,def:g,pythonName:"n/a"}}},{}),_=s.reduce((b,w)=>{if(w.commandType==="loadLidStack"&&w.result!=null){const{stackLabwareId:S,lidStackDefinition:L}=w.result;if(S!=null&&L!=null&&b[S]==null&&L.schemaVersion!==3)return{...b,[S]:{id:S,labwareDefURI:c.getLabwareDefURI(L),def:L,pythonName:"n/a"}}}return b},h),y=a.reduce((b,w)=>{const{id:S,pipetteName:L}=w,g=c.getPipetteSpecsV2(L),A=s.filter(R=>R.commandType==="pickUpTip"&&R.params.pipetteId===S).map(R=>_[R.params.labwareId]),E=Array.from(new Set(A.map(R=>R.labwareDefURI))),v=Array.from(new Set(A.map(R=>R.def)));return g==null||(b[S]={name:L,id:S,tiprackLabwareDef:v,tiprackDefURI:E,spec:g,pythonName:"n/a"}),b},{}),I=s.reduce((b,w)=>{if(w.commandType==="loadLidStack"&&w.result!=null){const{params:S}=w,L=cc(S);return{...b,stagingAreaEntities:{...b.stagingAreaEntities,...L}}}else if((w.commandType==="loadLabware"||w.commandType==="loadLid")&&w.result!=null){const{params:S}=w,L=cc(S);return{...b,stagingAreaEntities:{...b.stagingAreaEntities,...L}}}else if(w.commandType==="moveToAddressableArea"||w.commandType==="moveToAddressableAreaForDropTip"){const S=w.params.addressableAreaName,L=`${U()}:${S}`;let 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0}}},dispense:{...i,correction_by_volume:o?.singleDispense.correctionByVolume??[[0,0]],push_out_by_volume:[[0,t.pushOut??0]],mix:{enabled:"mixInDestination"in t?t.mixInDestination!=null:!1,repetitions:"mixInDestination"in t?t.mixInDestination?.times??void 0:void 0,volume:"mixInDestination"in t?t.mixInDestination?.volume??void 0:void 0}},...t.commandCreatorFnName==="distribute"?{multi_dispense:{...i,correction_by_volume:o?.multiDispense?.correctionByVolume??[[0,0]],..."conditioningVolume"in t?{conditioning_by_volume:[[0,t.conditioningVolume??0]]}:{},..."disposalVolume"in t?{disposal_by_volume:[[0,t.disposalVolume??0]]}:{}}}:{}}}},u=JSON.parse(JSON.stringify(l));return zr(u)},ra=(e,t)=>`${c.getAllLiquidClassDefs()[e].liquidClassName}${t?"_base_class":""}`,ib=e=>{if(e!=null)return e===Xr?"source":e===zn?"destination":"trash"},qE=e=>{const 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o=e!=null?Object.values(e).reduce((a,s)=>{if(s.groupIds.indexOf(n)!==-1){const l=s.ingreds[n];l?.volume!=null&&(a[s.wellName??"A1"]=l.volume)}return a},{}):{};r[n]=o}),r},ZE=e=>{const t=e.flatMap(r=>r==null?[]:Object.values(r).flatMap(n=>n.groupIds.filter(o=>o!==Ke)));return Array.from(new Set(t))},XE=e=>{const t=e!=null?Object.values(e).flatMap(r=>r.groupIds)?.filter(r=>r!==Ke):[];return Array.from(new Set(t))},ub="#737578",cb=e=>{const t=Number(e);return Number.isInteger(t)?c.DEFAULT_LIQUID_COLORS[t%c.DEFAULT_LIQUID_COLORS.length]:(e!==Ke&&console.warn(`swatchColors expected an integer or ${Ke}, got ${e}`),"transparent")},QE=(e,t)=>{const r=e.filter(n=>n!==Ke);return r.length===0?null:r.length===1?t[r[0]]??cb(r[0]):ub},JE=(e,t)=>mt(e,(r,n,o)=>{const a=QE(n.groupIds,t);return a?{...r,[o]:a}:r},{});var Yu,Oh;function eA(){if(Oh)return Yu;Oh=1;function e(t,r){return t>r}return Yu=e,Yu}var Ku,vh;function tA(){if(vh)return Ku;vh=1;var e=Gh(),t=eA(),r=Uo();function n(o){return o&&o.length?e(o,r,t):void 0}return Ku=n,Ku}var rA=tA();const nA=Ye(rA),pb="2.31",oA="9.0.1";function aA(){return["import json","from opentrons import protocol_api, types"].join(`
+`)}function sA(e){function t(n){return n?new Date(n).toISOString():""}const r=Object.fromEntries(Object.entries({protocolName:e.protocolName,author:e.author,description:e.description,created:t(e.created),internalAppBuildDate:e.internalAppBuildDate,lastModified:t(e.lastModified),category:e.category,subcategory:e.subcategory,tags:e.tags?.length&&e.tags.join(", "),protocolDesigner:e.protocolDesigner,source:e.source}).filter(([n,o])=>o));return`metadata = ${zr(r)}`}function iA(e){const r={robotType:{[c.OT2_ROBOT_TYPE]:"OT-2",[c.FLEX_ROBOT_TYPE]:"Flex"}[e],apiLevel:pb};return`requirements = ${zr(r)}`}function db(e,t){const r=Object.keys(e).length>0,n=r?Object.values(e).map(o=>`${o.pythonName} = ${ge}.load_module(${q(o.model)}, ${q(t[o.id].slot)})`).join(`
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+${n}`:""}function fb(e,t,r){const n=Object.values(t).filter(a=>a.def.allowedRoles?.includes("adapter")),o=Object.values(n).toSorted((a,s)=>{const i=r[a.id].stack,l=r[s.id].stack;return i.includes(s.id)?1:l.includes(a.id)?-1:0}).map(a=>{const{id:s,def:i,pythonName:l}=a,{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===l_),_=f in t?t[f]:null;let y,I=null;if(_!=null)y=_.pythonName,I=null;else if(m!=null){const w=e[m];[y,I]=h?[ge,`location=${w.pythonName}.manifold_dock`]:[w.pythonName,null]}else y=ge,I=`location=${f==="offDeck"?Cn:q(f)}`;if(c.getLabwareDefIsStandard(i)){const w=[`${q(u.loadName)}`,...I?[I]:[],`namespace=${q(p)}`,`version=${d}`].join(`,
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 ${Q(w)},
-)`}else{const w=[`${Do}[${F(c.getLabwareDefURI(i))}]`,...T?[T]:[]].join(`,
+)`}else{const w=[`${Va}[${q(c.getLabwareDefURI(i))}]`,...I?[I]:[]].join(`,
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 ${Q(w)},
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-`);return a?`# Load Adapters:
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-`),m=Q(f);return`lid_stack_${o} = ${ge}.load_lid_stack(
+`);return o?`# Load Adapters:
+${o}`:""}const lA=(e,t,r)=>e.reduce((n,{id:o,labwareDefURI:a,def:s})=>{const{stack:i}=r[o],l=i.length-1,u=i.slice(1,l),p=u.find(I=>t[I]?.def.parameters.loadName==="opentrons_flex_deck_riser"),d=u.every(I=>t[I]?.labwareDefURI===a)||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=nA([_,h])??_;return{...n,[m]:{loadName:f,quantity:y}}},{}),mb=(e,t)=>{const r=Object.values(e).filter(a=>a.def.allowedRoles?.includes("lid")),n=lA(r,e,t),o=Object.entries(n).map(([a,{loadName:s,quantity:i}])=>{const l=Object.values(e).some(({pythonName:h})=>h===a),u=`load_name=${q(s)}`,p=`location=${l?a:q(a)}`,d=`quantity=${i}`,f=[u,p,d].join(`,
+`),m=Q(f);return`lid_stack_${a} = ${ge}.load_lid_stack(
 ${m},
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-`);return a?`# Load Lid Stacks:
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-)`]}else{const M=[`${Do}[${F(c.getLabwareDefURI(d))}]`,...O?[O]:[],...k?[k]:[]].join(`,
+${Q(F)},
+)`]}else{const F=[`${Va}[${q(c.getLabwareDefURI(d))}]`,...v?[v]:[],...R?[R]:[]].join(`,
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-${Q(M)},
+${Q(F)},
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+${i}`:""}function _b(e,t){const r=Object.values(e).map(n=>{const{name:o,id:a,spec:s,pythonName:i}=n,l=s.channels===96?"":q(t[a].mount),u=c.isFlexPipette(o)?c.getFlexNameConversion(s):o;return`${i} = ${ge}.load_instrument(${[q(u),...l?[l]:[]].join(", ")})`}).join(`
 `);return r?`# Load Pipettes:
-${r}`:""}function db(e){const t=Object.values(e).map(r=>{const{pythonName:n,displayColor:a,displayName:o,description:s}=r,i=[`${F(o)}`,...s?[`description=${F(s)}`]:[],`display_color=${F(a)}`].join(`,
+${r}`:""}function yb(e){const t=Object.values(e).map(r=>{const{pythonName:n,displayColor:o,displayName:a,description:s}=r,i=[`${q(a)}`,...s?[`description=${q(s)}`]:[],`display_color=${q(o)}`].join(`,
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+${t}`:""}function bb(e,t,r){const n=Object.entries(e).reduce((a,[s,i])=>{const l=r[s].pythonName;return Object.entries(i).forEach(([u,p])=>{Object.entries(p).forEach(([d,f])=>{const m=t[d].pythonName,h=`${l}__${m}__${f.volume}`;a[h]||(a[h]={labwarePythonName:l,liquidPythonName:m,volume:f.volume,wells:[]}),a[h].wells.push(u)})}),a},{}),o=Object.values(n).map(({labwarePythonName:a,liquidPythonName:s,volume:i,wells:l})=>{const u=l.map(h=>q(h)),d=Ba(u,8).map(h=>Wo+h.join(", ")).join(`,
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 `}],
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-`].join();return`${o}.load_liquid(
+`].join();return`${a}.load_liquid(
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-`);return a?`# Load Liquids:
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+`);return o?`# Load Liquids:
+${o}`:""}function Ib(e){const t=c.getAllLiquidClassDefs(),r=e.map(n=>n==null?"":`${ra(n,!0)} = ${ge}.get_liquid_class(${q(t[n].liquidClassName)})`).join(`
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+${t}`:""}function wb(e){const t=Object.values(e)?.map(r=>`${r.pythonName} = ${ge}.load_waste_chute()`);return t.length>0?`# Load Waste Chute:
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-`):"";function yb(e){return`# PROTOCOL STEPS
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-`+e.timeline.map(t=>{const{stepInfo:r}=t,n=r?.description;return`# Step ${r?.stepNumber}: ${r?.name}${nA(n)}
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-`)}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(`
+`)}function pA(e,t,r,n,o,a,s){const{moduleEntities:i,labwareEntities:l,pipetteEntities:u,liquidEntities:p,wasteChuteEntities:d,trashBinEntities:f}=e,{modules:m,labware:h,pipettes:_}=t,I=[db(i,m),fb(i,l,h),mb(l,h),hb(m,i,l,h,o),_b(u,_),...a===c.FLEX_ROBOT_TYPE?[Tb(f),wb(d)]:[],yb(p),bb(n,p,l),Ib(s),gb(i,l,h,m,r),Sb(r)].filter(b=>b).join(`
 
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+${Q(I)}`}function dA(e){const t=Object.values(e).filter(r=>!c.getLabwareDefIsStandard(r.def)).map(r=>r.def);if(t.length>0){const r=Object.fromEntries(t.map(n=>[c.getLabwareDefURI(n),n]));return`${Va} = json.loads("""${JSON.stringify(r)}""")`}else return""}const Qa=e=>{switch(e){case"perDest":return"per destination";case"perSource":return"per source";default:return e}},gb=(e,t,r,n,o)=>{const s=Object.values(e).map(i=>{const{id:l,type:u,pythonName:p}=i;if(u===c.FLEX_STACKER_MODULE_TYPE){const d=n[l].slot,f=o.timeline.map(_=>_.robotState.labware),m=Object.entries(r).filter(([_,y])=>y.stack.includes(l)&&y.stack.includes(rt)),h=[...Object.entries(r),...f.flatMap(_=>Object.entries(_))].filter(([_,y])=>ee(y.stack)===d&&!y.stack.includes(rt));if(m.length===0){if(h.length===0)return"";const _=h.find(([b])=>t[b].def.allowedRoles?.includes("lid")),y=h.find(([b])=>!t[b].def.allowedRoles?.includes("lid"));if(y==null)return"";const I=[`load_name=${q(t[y[0]].def.parameters.loadName)}`,`namespace=${q(t[y[0]].def.namespace)}`,`version=${t[y[0]].def.version}`,"count=0",..._!=null?[`lid=${q(t[_[0]].def.parameters.loadName)}`]:[]].join(`,
 `);return`${p}.set_stored_labware(
-${Q(T)}
-)`}else{const _=Object.values(m).filter(S=>!t[S[0]]?.def.allowedRoles?.includes("lid")).map(S=>t[S[0]].pythonName),T=Mo(_,4).map(S=>Ha+S.join(", ")).join(`,
+${Q(I)}
+)`}else{const _=Object.values(m).filter(S=>!t[S[0]]?.def.allowedRoles?.includes("lid")).map(S=>t[S[0]].pythonName),I=Ba(_,4).map(S=>Wo+S.join(", ")).join(`,
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-${T}
+${I}
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-`);return`parameters.${sA[r.type]}(
-${Q(o)},
+`).trimStart()}`:""},fA={boolean:"add_bool",int:"add_int",float:"add_float",string:"add_str",csv:"add_csv_file"};function mA(e){const t=Object.values(e).map(r=>{const n="choices"in r?r.choices:void 0,o={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}:{}},a=Object.entries(o).filter(([,s])=>s!=null).map(([s,i])=>`${s}=${ur(i)}`).join(`,
+`);return`parameters.${fA[r.type]}(
+${Q(a)},
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null},pA=(e,t,r,n,a,o,s)=>{const{pipetteBoundingBoxOffsets:i}=e.spec,l=lA(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),y=r.y-(l.y-f),T=(r.z??0)+t-s;return[{x:m,y:_,z:T},{x:h,y,z:T},{x:h,y:_,z:T},{x:m,y,z:T}]},Ib=(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)},vh=(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},dA=e=>{const t=c.getDeckDefFromRobotType(e);return Object.values(t.cutoutFixtures).find(n=>c.WASTE_CHUTE_FIXTURES.includes(n.id))?.height??0},fA=(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=$o(o,p),f=Object.keys(a).find(h=>a[h].slot===p);Object.values(l).find(h=>h.location===Tb(r))&&(u+=dA(n)),d.length>0?d.forEach(h=>{a[h]!=null&&(u+=vh(s[h].model,n)),o[h]!=null&&(u+=i[h].def.dimensions.zDimension)}):f!=null&&(u+=vh(s[f].model,n))}return u},mA=(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(Ib([e[0],e[1]],[l,u])&&e[0].z!=null&&fA(r,n,o,a)>=e[0]?.z&&o.addressableArea!=null)return{addressableAreaCausingCollision:o.addressableArea}}return 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 y=d?[..._].reverse():_,T=y.findIndex(b=>Ln(b)===Ln(o));return y.slice(T).every(b=>t[b]===_e||i.includes(b)||b===o)}),isComplete:t[o]!==_e}}return{isSafe:!1}},Ln=e=>e.slice(0,1),wp=e=>e.slice(1),fc=e=>parseInt(e.slice(1))-1,To=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"},eo=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?Ln(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]))},yA=e=>{const{pipetteSpecs:t,tiprackUri:r,nozzles:n}=e,{channels:a}=t,o=bA(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},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 "${h}"`);const _=ee(n.labware[h].stack),y=Ly(_),T=Ay({labwareId:h,labwareRobotState:n.labware,labwareEntities:r.labwareEntities});if(y&&T&&c.getIsTiprack(r.labwareEntities[h].def))return i.push(h),!1;const b=r.labwareEntities[h].labwareDefURI;return y&&b===t});let u=l;const p=s.spec.channels===96,d=[];p&&(u=u.filter(h=>{const _=n.labware[h].stack[1],y=r.labwareEntities[_],T=y?.def.parameters.loadName==="opentrons_flex_96_tiprack_adapter"&&c.getLabwareDefIsStandard(y?.def),b=o===c.ALL?T:!T;return b||d.push(h),b}));let f=null,m=null;for(const h of u){const _=Ab({pipetteId:e,tiprackId:h,nozzles:o,invariantContext:r,robotState:n,primaryNozzle:a}),{isSafe:y}=_!=null?_t({robotState:n,invariantContext:r,pipetteId:e,labwareId:h,wellTargetName:_,primaryNozzle:a,nozzleConfiguration:o}):{isSafe:!1},{isSafe:T,isComplete:b=!1}=_!=null?Ip({tipState:n.tipState.tipracks[h],primaryNozzle:a,channels:s.spec.channels,nozzleConfiguration:o,wellName:_,tiprackDef:r.labwareEntities[h].def}):{isSafe:!1};if(_&&y&&T&&b){f=h,m=_;break}}return f&&m?{nextTiprack:{tiprackId:f,well:m},tipracks:{totalTipracks:l.length,excludedBy96Channel:d.length,excludedByLid:i.length,filteredSortedTiprackIds:u}}:{nextTiprack:null,tipracks:{totalTipracks:l.length,excludedBy96Channel:d.length,excludedByLid:i.length,filteredSortedTiprackIds:u}}}function Go(e,t,r){const n=t.pipetteEntities[e],a=n.spec.liquids.default.maxVolume,o=n.tiprackLabwareDef;let s=null;for(const l of o)if(c.getLabwareDefURI(l)===r){s=l;break}const i=c.getTiprackVolume(s??o[0]);return!a||!i?(console.assert(!1,`getPipetteEffectiveMaxVol expected tiprackMaxVol and pipette maxVolume to be > 0, got',
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-${l}.blow_out(${u})`}),d=[R(qe,{pipetteId:n,fixtureId:a,offset:Lt}),R(Bn,{pipetteId:n,flowRate:o}),p];return de(d,t,r)},Pb=(e,t,r)=>{const{pipetteId:n,flowRate:a,wasteChuteId:o}=e,{pipetteEntities:s,wasteChuteEntities:i}=t,l=s[n].pythonName,u=i[o].pythonName,p=()=>({commands:[],python:`${l}.flow_rate.blow_out = ${a}
-${l}.blow_out(${u})`}),d=[R(qe,{pipetteId:n,fixtureId:o,offset:Lt}),R(Bn,{pipetteId:n,flowRate:a}),p];return de(d,t,r)};var zu,Ph;function LA(){if(Ph)return zu;Ph=1;var e=C_();function t(r){var n=e(r),a=n%1;return n===n?a?n-a:n:0}return zu=t,zu}var ju,Rh;function OA(){if(Rh)return ju;Rh=1;var e=$y(),t=qc(),r=LA(),n=Math.ceil,a=Math.max;function o(s,i,l){(l?t(s,i,l):i===void 0)?i=1:i=a(r(i),0);var u=s==null?0:s.length;if(!u||i<1)return[];for(var p=0,d=0,f=Array(n(u/i));p<u;)f[d++]=e(s,p,p+=i);return f}return ju=o,ju}var vA=OA();const Rb=Ge(vA),ar=e=>{const{labwareDef:t,wells:r,primaryNozzle:n}=e,a=c.PARTIAL_NOZZLE_MAP[n]-1,{ordering:o,parameters:s}=t;return r.map(i=>{const l=o.find(p=>p.includes(i));if(l==null)return console.warn(`Could not find column for ${i} in ${s.loadName}`),i;if(l.length===1)return i;const u=l.indexOf(i);return u===-1?(console.warn(`Could not find column index of ${i}`),i):l[u+a]})},kb=(e,t,r)=>{const{pipetteId:n,trashLocation:a}=e;let o=[];const s=Xc(a);if(r.tipState.pipettes[n]?.hasTip){const i=t.pipetteEntities[n].pythonName,l=()=>({commands:[],python:`${i}.drop_tip()`});o=[R(xc,{pipetteId:n,addressableAreaName:s}),R(Co,{pipetteId:n}),l]}return de(o,t,r)},Nb=(e,t,r)=>{const n=Lt,{pipetteId:a,wasteChuteId:o}=e,{pipetteEntities:s,wasteChuteEntities:i}=t;let l=[];if(!r.tipState.pipettes[a].hasTip)l=[];else{const u=s[a].pythonName,p=i[o].pythonName,d=()=>({commands:[],python:`${u}.drop_tip(${p})`});l=[R(qe,{pipetteId:a,fixtureId:o,offset:n}),R(Co,{pipetteId:a}),d]}return de(l,t,r)},ro=(e,t,r)=>{const{pipette:n,dropTipLocation:a,nozzles:o,primaryNozzle:s,tipRack:i,isFromMixCommand:l=!1,tipSelectionArgs:u}=e,p=r.pipettes[n].nozzles,d=r.pipettes[n].tiprackId,f=t.pipetteEntities[n]?.spec,m=f?.channels;let h=null;if(u==null){if(i==null)return{errors:[hT()]};const E=to(n,i,t,r,s,o);h=E.nextTiprack;const O=E.tipracks,{excludedBy96Channel:k,excludedByLid:D}=O??{},M=h==null&&m===96&&k>0;if(o===c.ALL&&M)return{errors:[Jb()]};if(o===c.COLUMN&&M)return{errors:[eT()]};if(D>0&&h==null)return{errors:[ST()]}}else h={tiprackId:u.tipRackId,well:u.tipWell};if(h==null)return{errors:[Qb()]};const _=(f?.displayCategory==="FLEX"||m===96)??!1;if(!f)return{errors:[mt({pipette:n})]};const y=t.labwareEntities[h.tiprackId]?.def,T=t.wasteChuteEntities[a]!=null,b=t.trashBinEntities[a]!=null;if(!y)return{errors:[ht({actionName:"replaceTip",labware:h.tiprackId})]};const w=r.tipState.pipettes[n]?.hasTip;if(!a||!T&&!b&&w)return{errors:[Mn()]};if(Gn({pipette:n,labware:h.tiprackId,invariantContext:t,prevRobotState:r}))return{errors:[Oa()]};const S=jn(h.tiprackId,r.labware);if(Zn(r.modules,S,_?c.FLEX_ROBOT_TYPE:c.OT2_ROBOT_TYPE))return{errors:[Pa()]};if(!_){if(Yn(r.modules,S))return{errors:[va()]};if(Kn(r.modules,S,f))return{errors:[Ra()]}}const g=l?P:R,L=[];m!==1&&e.nozzles!=null&&(e.nozzles!==p||h.tiprackId!==d)&&L.push(P(q_,{configurationParams:{primaryNozzle:s,style:e.nozzles},pipetteId:e.pipette}));const I=u?Ot:Ic;let A=[g(Yr,{pipette:n,dropTipLocation:a}),...L,g(mo,{pipetteId:n,labwareId:h.tiprackId,wellName:h.well,nozzles:e.nozzles,tipTrackingOption:I,primaryNozzle:s})];return T&&(A=[g(Nb,{pipetteId:e.pipette,wasteChuteId:t.wasteChuteEntities[e.dropTipLocation].id}),...L,g(mo,{pipetteId:n,labwareId:h.tiprackId,wellName:h.well,nozzles:e.nozzles,tipTrackingOption:I,primaryNozzle:s})]),b&&(A=[g(kb,{pipetteId:n,trashLocation:t.trashBinEntities[e.dropTipLocation].location}),...L,g(mo,{pipetteId:n,labwareId:h.tiprackId,wellName:h.well,nozzles:e.nozzles,tipTrackingOption:I,primaryNozzle:s})]),de(A,t,r)},kh=(e=0)=>e>0?[R(Te,{seconds:e})]:[],PA=e=>()=>{const{invariantContext:t,pipette:r,times:n,volume:a,aspirateDelaySeconds:o,dispenseDelaySeconds:s,finalPushOut:i,aspirateFlowRateUlSec:l,dispenseFlowRateUlSec:u,positionArgs:p}=e,{pipetteEntities:d,labwareEntities:f}=t,m=d[r].pythonName;let h=null;if(p!=null){const{labware:y,well:T,wellOrigin:b,xOffset:w,yOffset:S,zOffset:g}=p,L=f[y].pythonName,I={origin:b,offset:{x:w,y:S,z:g}};h=`location=${L}[${F(T)}]${zt(I)}`}const _=[`repetitions=${n}`,`volume=${a}`,...h!=null?[h]:[],`aspirate_flow_rate=${l}`,`dispense_flow_rate=${u}`,...o!=null&&o!==0?[`aspirate_delay=${o}`]:[],...s!=null&&s!==0?[`dispense_delay=${s}`]:[],...i!=null?[`final_push_out=${i}`]:[]];return{commands:[],python:`${m}.mix(
+${Q(t)}`:""}const hA=(e,t,r,n)=>{const{spec:o}=t,a=e===c.ROW,s=e===c.COLUMN||e===c.ALL&&o.channels===8,i=n.ordering[0].length===1;if(a&&i){const u=s?`H${r.slice(1)}`:`${r.charAt(0)}12`,p=o.nozzleMap[u],d=o.nozzleMap[r],f=p.map((_,y)=>_-d[y]),m=[f[0]/2,f[1]/2,0],h=d.map((_,y)=>_+m[y]);return{x:h[0],y:h[1],z:h[2]}}const l=o.nozzleMap[r];return{x:l[0],y:l[1],z:l[2]}},Ln={back_left:{x:-43.25,y:454.9,z:211.91},front_right:{x:128.75,y:402,z:211.91}},Ph={x:Ln.back_left.x,y:Ln.back_left.y,z:Ln.back_left.z},_A={x:Ln.front_right.x,y:Ln.front_right.y,z:Ln.front_right.z},yA=49.5,Eb=e=>{if(e.addressableArea?.areaType==="slot"){const t=`cutout${e.addressableArea?.id}`;if(t)return t}return null},bA=(e,t,r,n,o,a,s)=>{const{pipetteBoundingBoxOffsets:i}=e.spec,l=hA(a,e,o,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),y=r.y-(l.y-f),I=(r.z??0)+t-s;return[{x:m,y:_,z:I},{x:h,y,z:I},{x:h,y:_,z:I},{x:m,y,z:I}]},Ab=(e,t)=>{const r=e[1].x<t[0].x,n=e[0].x>t[1].x,o=e[0].y<t[1].y,a=e[1].y>t[0].y;return!(r||n||o||a)},Rh=(e,t)=>{if(t===c.FLEX_ROBOT_TYPE){const r=c.getDeckDefFromRobotType(t),{addressableAreas:n}=r.locations;return n.find(a=>a.id.includes(e))?.offsetFromCutoutFixture[2]??0}return c.getModuleDef(e).dimensions.bareOverallHeight},IA=e=>{const t=c.getDeckDefFromRobotType(e);return Object.values(t.cutoutFixtures).find(n=>c.WASTE_CHUTE_FIXTURES.includes(n.id))?.height??0},TA=(e,t,r,n)=>{const{modules:o,labware:a}=e,{moduleEntities:s,labwareEntities:i,wasteChuteEntities:l}=t;let u=0;const p=r?.addressableArea?.id;if(p){const d=Ha(a,p),f=Object.keys(o).find(h=>o[h].slot===p);Object.values(l).find(h=>h.location===Eb(r))&&(u+=IA(n)),d.length>0?d.forEach(h=>{o[h]!=null&&(u+=Rh(s[h].model,n)),a[h]!=null&&(u+=i[h].def.dimensions.zDimension)}):f!=null&&(u+=Rh(s[f].model,n))}return u},wA=(e,t,r,n,o)=>{for(const a of t){const s=a.addressableArea?.boundingBox,i=a.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(Ab([e[0],e[1]],[l,u])&&e[0].z!=null&&TA(r,n,a,o)>=e[0]?.z&&a.addressableArea!=null)return{addressableAreaCausingCollision:a.addressableArea}}return null},SA=(e,t)=>Object.values(t).find(r=>r.type===c.THERMOCYCLER_MODULE_TYPE)?Ab([Ph,_A],[e[0],e[1]])&&e[0].x<=Ph.z:!1,gA=(e,t,r,n)=>{const{wells:o}=e.def,a=o[t];return{x:a.x+r.x,y:a.y+r.y,z:n?a.z+(r.z??0):e.def.dimensions.zDimension}},bt=e=>{const{robotState:t,invariantContext:r,pipetteId:n,labwareId:o,wellLocationOffset:a={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:I}=y,{channels:b}=I,L=I?.displayCategory==="FLEX"?c.FLEX_ROBOT_TYPE:c.OT2_ROBOT_TYPE,g=c.getDeckDefFromRobotType(L);if(d[o]==null||s==null||b===1)return{isSafe:!0};const T=u?!0:_.pipettes[n]?.hasTip??!1,A=u??_.pipettes[n]?.tiprackURI,E=A!=null?d[A]:null,v=E!=null?E.def.parameters.tipLength:0,R=Object.values(f).map(k=>k.location),M=T?v??0:0,F=ee(h[o].stack),G=h[o].stack.some(k=>m[k]?.type===c.THERMOCYCLER_MODULE_TYPE),Y=c.getDeckDefFromRobotType(c.FLEX_ROBOT_TYPE),oe=(G?c.getPositionFromSlotId(c.B1_ADDRESSABLE_AREA,Y):c.getPositionFromSlotId(F,g))??[0,0,0],fe=G?Y.locations.addressableAreas.find(k=>k.id===c.THERMOCYCLER_MODULE_V2)?.offsetFromCutoutFixture??[0,0,0]:[0,0,0],J={x:fe[0]+oe[0],y:fe[1]+oe[1],z:fe[2]+oe[2]},{def:Re}=d[o],Ve=Ob({wellTargetName:s,primaryNozzle:i,nozzleConfiguration:l,specs:I,labwareDef:Re}),Me={x:a.x+Ve.x+J.x,y:a.y+Ve.y+J.y,z:(a.z??0)+(J.z??0)},We=gA(d[o],s,Me,T),ie=E!=null?EA({pipetteSpecs:I,tiprackUri:E.labwareDefURI,nozzles:l}):0,Ne=d[o].def,Be=bA(y,M,We,Ne,i,l,ie);if(!LA({channels:b,boundingBox:Be,robotType:L}))return{isSafe:!1,reason:{type:"outsidePipetteExtents"}};const K=(L===c.OT2_ROBOT_TYPE?c.getOt2SurroundingSlots(F):c.getFlexSurroundingSlots(F,R)).map(k=>{const B=c.getAddressableAreaFromSlotId(k,g),$=c.getPositionFromSlotId(k,g);return{addressableArea:B,position:$}});if(SA(Be,m))return{isSafe:!1,reason:{type:"thermocyclerLidCollision"}};const j=wA(Be,K,t,r,L);return j!=null?{isSafe:!1,reason:{type:"adjacentAdressableAreaCollision",addressableAreaCausingCollision:j.addressableAreaCausingCollision}}:{isSafe:!0}},wp=e=>{const{tipState:t,primaryNozzle:r,channels:n,nozzleConfiguration:o,wellName:a,tiprackDef:s,tipsToIgnore:i=[]}=e,{ordering:l}=s;if(n===1)return{isSafe:!0,isComplete:t[a]!==_e};if(n===8){const u=r!==c.A1_NOZZLE,p=bc(a),d=l[p],f=u?[...d].reverse():d;if(o===c.SINGLE){const m=f.indexOf(a);return{isSafe:f.slice(m+1).every(h=>t[h]===_e||i.includes(h)),isComplete:t[a]!==_e}}if(o===c.PARTIAL_COLUMN){const m=f.indexOf(a),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(o===c.ALL)return{isSafe:!0,isComplete:Object.keys(s.wells).every(u=>t[u]!==_e)};if(o===c.COLUMN){const u=r===c.A12_NOZZLE,p=bc(a),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(o===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===a));return{isSafe:d.slice(f+1).flat().every(m=>t[m]===_e||i.includes(m)),isComplete:d[f].every(m=>t[m]!==_e)}}if(o===c.SINGLE){const u=On(r??ga({nozzles:o,channels:n})),p=Sp(r??ga({nozzles:o,channels:n})),d=u==="H",m=p==="12"?[...l].reverse():l,h=m.findIndex(_=>_.some(y=>y===a));return{isSafe:m.slice(h).every(_=>{const y=d?[..._].reverse():_,I=y.findIndex(b=>On(b)===On(a));return y.slice(I).every(b=>t[b]===_e||i.includes(b)||b===a)}),isComplete:t[a]!==_e}}return{isSafe:!1}},On=e=>e.slice(0,1),Sp=e=>e.slice(1),bc=e=>parseInt(e.slice(1))-1,ga=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"},na=e=>{const{wellSets:t,nozzles:r,channels:n,primaryNozzle:o}=e;return r===c.ROW?t.map(a=>a[0]):t.map(a=>n===96&&r===c.ALL?o:r===c.COLUMN||n===8&&r===c.ALL||n===8&&r===c.PARTIAL_COLUMN?On(o)==="H"?a[a.length-1]:a[0]:(console.assert(a.length===1,"Well set for SINGLE nozzle configuration should have exactly 1 well"),a[0]))},EA=e=>{const{pipetteSpecs:t,tiprackUri:r,nozzles:n}=e,{channels:o}=t,a=AA(o,n),s=t.pickUpTipConfigurations.pressFit.configurationsByNozzleMap[a]?.default.tipOverlaps;if(s==null)return console.error(`No tip overlaps found for ${n} and ${a} overlap.`),0;const 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P(ny,e);case"vacuumCloseVentSetPumpPressure":return P(Wb,e);case"vacuumCloseVentSetPumpPower":return P(jb,e);case"vacuumCloseVentStartProfile":return P(Gb,e);case"airGapInPlace":return P(Pt,e);case"aspirate":return P(Pt,e);case"aspirateInPlace":return P(Ho,e);case"aspirateWhileTracking":return P($w,e);case"blowOutInPlace":return P(xn,e);case"blowout":return P(xc,e);case"configureForVolume":return P(kn,e);case"configureNozzleLayout":return P(B_,e);case"dispense":return P(zc,e);case"dispenseInPlace":return P(tt,e);case"dispenseWhileTracking":return P(qw,e);case"dropTip":return P(Zr,e);case"dropTipInPlace":return P(qa,e);case"home":return P(Vw,e);case"moveRelative":return P(Bw,e);case"moveToAddressableArea":return P(qe,e);case"moveToAddressableAreaForDropTip":return P(Hc,e);case"moveToCoordinates":return P(xw,e);case"moveToWell":return P(H,e);case"pickUpTip":return P(ya,e);case"prepareToAspirate":return P(Rt,e);case"touchTip":return P(Ot,e);case"tryLiquidProbe":return 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Rb(e){const{pipetteId:t,tiprackId:r,invariantContext:n,robotState:o,nozzles:a,primaryNozzle:s}=e,i=n.pipetteEntities[t]?.spec?.channels,l=n.labwareEntities[r]?.def,u=o.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]===qo,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(v=>v.every(p))??null,y=E=>[...E].reverse().find(v=>v.every(p))??null,I=i===8&&a===c.SINGLE,b=I&&s===c.H1_NOZZLE,w=I&&s===c.A1_NOZZLE,S=i===96&&a===c.SINGLE,L=S&&s===c.H12_NOZZLE,g=S&&s===c.A12_NOZZLE,T=S&&s===c.H1_NOZZLE,A=S&&s===c.A1_NOZZLE;if(i===1||b||L)return m(d);if(w)return m(f);if(a===c.PARTIAL_COLUMN){const E=m(d);if(!E)return null;const v=d.indexOf(E);return d[v]??null}if(a===c.ALL&&i===8)return _(l.ordering)?.[0]??null;if(A)return h(d);if(g)return m(f);if(T)return h(f);if(a===c.COLUMN){const E=l.ordering;return(s===c.A1_NOZZLE?y(E):_(E))?.[0]??null}if(a===c.ROW){const E=l.ordering,v=E[0].map((M,F)=>E.map(G=>G[F]));return(s===c.A1_NOZZLE?y(v):_(v))?.[0]??null}return a===c.ALL&&i===96?d.every(p)?d[0]:null:(console.assert(!1,`Unhandled _getNextTip case for pipette ${t}`),null)}function oa(e,t,r,n,o,a){const s=r.pipetteEntities[e];if(!s)throw new Error(`cannot getNextTiprack, no pipette entity for pipette "${e}"`);const i=[],l=Pb(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=Ny(_),I=Ry({labwareId:h,labwareRobotState:n.labware,labwareEntities:r.labwareEntities});if(y&&I&&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[_],I=y?.def.parameters.loadName==="opentrons_flex_96_tiprack_adapter"&&c.getLabwareDefIsStandard(y?.def),b=a===c.ALL?I:!I;return b||d.push(h),b}));let f=null,m=null;for(const h of u){const _=Rb({pipetteId:e,tiprackId:h,nozzles:a,invariantContext:r,robotState:n,primaryNozzle:o}),{isSafe:y}=_!=null?bt({robotState:n,invariantContext:r,pipetteId:e,labwareId:h,wellTargetName:_,primaryNozzle:o,nozzleConfiguration:a}):{isSafe:!1},{isSafe:I,isComplete:b=!1}=_!=null?wp({tipState:n.tipState.tipracks[h],primaryNozzle:o,channels:s.spec.channels,nozzleConfiguration:a,wellName:_,tiprackDef:r.labwareEntities[h].def}):{isSafe:!1};if(_&&y&&I&&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 Ja(e,t,r){const n=t.pipetteEntities[e],o=n.spec.liquids.default.maxVolume,a=n.tiprackLabwareDef;let s=null;for(const l of a)if(c.getLabwareDefURI(l)===r){s=l;break}const i=c.getTiprackVolume(s??a[0]);return!o||!i?(console.assert(!1,`getPipetteEffectiveMaxVol expected tiprackMaxVol and pipette maxVolume to be > 0, got',
+      ${o}, ${i}`),NaN):qI([i,o])??NaN}function kt(e,t){return t in e.modules||console.warn(`getModuleState expected module id "${t}" to be in robot state`),e.modules[t]?.moduleState}const es=(e,t)=>{const r=e.modules[t]?.moduleState;return r&&r.type===c.THERMOCYCLER_MODULE_TYPE?r:null},Qn=(e,t)=>{const r=e.modules[t]?.moduleState;return r&&r.type===c.ABSORBANCE_READER_TYPE?r:null},It=(e,t)=>{const r=e.modules[t]?.moduleState;return r&&r.type===c.FLEX_STACKER_MODULE_TYPE?r:null},pt=(e,t)=>{const r=e.modules[t]?.moduleState;return r&&r.type===c.VACUUM_MODULE_TYPE?r:null},Nb=(e,t,r)=>{const{moduleId:n,measureMode:o,sampleWavelengths:a,referenceWavelength:s}=e,i=Qn(r,n),l=[];if(i==null&&l.push(de()),l.length>0)return{errors:l};const u=[P($a,{moduleId:n}),P(F_,{moduleId:n,measureMode:o,sampleWavelengths:a,referenceWavelength:s??void 0})];return pe(u,t,r)},kb=(e,t,r)=>{const n=[],o=Qn(r,e.moduleId);if((o==null||e.moduleId==null)&&n.push(de()),o?.initialization==null&&n.push(pI()),n.length>0)return{errors:n};const{moduleId:a,fileName:s}=e,i=[P($a,{moduleId:a}),P($_,{moduleId:a,fileName:s})];return pe(i,t,r)},RA=(e,t,r)=>{const{pipetteId:n,trashId:o,flowRate:a,volume:s}=e,i=[P(qe,{pipetteId:n,fixtureId:o,offset:vt}),N(Rt,{pipetteId:n}),P(Pt,{pipetteId:n,volume:s,flowRate:a})];return pe(i,t,r)},NA=(e,t,r)=>{const{pipetteId:n,volume:o,flowRate:a,wasteChuteId:s}=e,i=[P(qe,{pipetteId:n,fixtureId:s,offset:vt}),N(Rt,{pipetteId:n}),P(Pt,{pipetteId:n,flowRate:a,volume:o})];return pe(i,t,r)},kA=(e,t,r)=>{const{labwareId:n,wellName:o,flowRate:a,pipetteId:s,volume:i,type:l}=e,u=t.pipetteEntities[s].pythonName,p=l==="aspirate"?[]:[N(Rt,{pipetteId:s})],d=()=>({commands:[],python:`${u}.air_gap(${[`volume=${i}`,`height=${nc}`,`flow_rate=${a}`].join(", ")})`}),f=[N(H,{pipetteId:s,labwareId:n,wellName:o,wellLocation:{origin:"top",offset:{z:nc,x:0,y:0}}}),...p,N(Pt,{pipetteId:s,volume:i,flowRate:a}),d];return pe(f,t,r)},Cb=(e,t,r)=>{const{pipetteId:n,trashId:o,flowRate:a}=e,{pipetteEntities:s,trashBinEntities:i}=t,l=s[n].pythonName,u=i[o].pythonName,p=()=>({commands:[],python:`${l}.flow_rate.blow_out = ${a}
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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 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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(", 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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,I=c.getByVolumeValue({liquidClass:p,pipetteSpecs:_,tiprackDefUri:d,targetVolume:r,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,w=f!=null?[N(H,{...f,wellLocation:{...f.wellLocation}})]:[];for(let S=0;S<n;S++)w.push(N(Ho,{pipetteId:t,volume:r,flowRate:o,...y>0?{correctionVolume:y}:{}}),...Ch(s),N(tt,{pipetteId:t,volume:r,flowRate:a,...S<n-1?{pushOut:0}:l==null?{}:{pushOut:l},...I>0?{correctionVolume:I}:{}}),...Ch(i));return[...w,...m?[h]:[]]},$b=(e,t,r)=>{const{pipette:o,labware:a,wells:s,volume:i,times:l,changeTip:u,aspirateFlowRateUlSec:p,dispenseFlowRateUlSec:d,blowoutFlowRateUlSec:f,blowoutOffsetFromTopMm:m,dropTipLocation:h,tipRack:_,positionReference:y,xOffset:I,yOffset:b,zOffset:w,finalPushOut:S,nozzles:L,primaryNozzle:g,tipsSelected:T,tiprackSelected:A,tipTracking:E}=e,v=e.aspirateDelaySeconds??0,R=e.dispenseDelaySeconds??0,M=t.pipetteEntities[o]?.spec.channels!==1;if(r.pipettes[o]==null||t.pipetteEntities[o]==null)return{errors:[ht({pipette:o})]};if(r.labware[a]==null)return{errors:[_t({actionName:"mix",labware:a})]};const F=ee(r.labware[a]?.stack);if(Object.keys(t.wasteChuteEntities).length>0&&F===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA)return{errors:[Do()]};const Y=[...Object.keys(t.trashBinEntities),...Object.keys(t.wasteChuteEntities)],oe=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[o]?.tipWell!=null;if(h==null||J&&oe==null&&u!=="never"&&Me||!J&&!Re&&!Ve)return{errors:[Fn()]};if(M){const K=bt({robotState:r,invariantContext:t,pipetteId:o,labwareId:a,wellLocationOffset:{x:I,y:b},wellTargetName:s[0],primaryNozzle:g,nozzleConfiguration:L});if(!K.isSafe)return{errors:[jt({unsafePipetteMovementReason:K.reason})]};const j=bt({robotState:r,invariantContext:t,pipetteId:o,labwareId:a,wellLocationOffset:{x:I,y:b},wellTargetName:s[0],primaryNozzle:g,nozzleConfiguration:L});if(!j.isSafe)return{errors:[jt({unsafePipetteMovementReason:j.reason})]}}const We=c.LOW_VOLUME_PIPETTES.includes(t.pipetteEntities[o].name),ie=We?[P(kn,{pipetteId:o,volume:i})]:[],Ne=t.pipetteEntities[o].spec,Ae=E===yt&&A!=null&&T!=null&&T.length>0?na({wellSets:T,nozzles:L,channels:Ne.channels,primaryNozzle:g}):null,ae=Nn(s,(K,j)=>{let k=[];if(u==="always"||u==="once"&&j===0){const le=Ae?.shift();k=[P(aa,{pipette:o,primaryNozzle:g,dropTipLocation:J&&oe!=null?oe:h,tipRack:_,nozzles:L,...E===yt&&le!=null&&A!=null?{tipSelectionArgs:{tipRackId:A,tipWell:le}}:{},isFromMixCommand:!0})]}const B=We||e.blowoutLocation!=null&&j>0?[P(Rt,{pipetteId:o})]:[],$=e.touchTip?[P(Ot,{pipetteId:o,labwareId:a,wellName:K,zOffsetFromTop:e.touchTipMmFromTop})]:[],re=Iy({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)?[...$,...re]:[...re,...$],x=J&&(j===s.length-1||u==="always")?[P(Zr,{pipette:o,dropTipLocation:_,isReturnTip:J})]:[],z=Br({pipette:o,volume:i,times:l,aspirateFlowRateUlSec:p,dispenseFlowRateUlSec:d,invariantContext:t,liquidClass:null,tiprack:_,finalPushOut:S,aspirateDelaySeconds:v,dispenseDelaySeconds:R,moveToWellParams:{pipetteId:o,labwareId:a,wellName:K,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[y],offset:{x:I,y:b,z:w}}},generatePython:!0});return[...k,...ie,...B,...z,...W,...x]});return pe(ae,t,r)},qb=(e,t,r)=>{const{aspirateDelay:n,aspirateFlowRateUlSec:o,aspiratePositionReference:a,aspirateRetractDelay:s,aspirateRetractPositionReference:i,aspirateRetractSpeed:l,aspirateRetractXOffset:u,aspirateRetractYOffset:p,aspirateRetractZOffset:d,aspirateSubmergeDelay:f,aspirateSubmergePositionReference:m,aspirateSubmergeSpeed:h,aspirateSubmergeXOffset:_,aspirateSubmergeYOffset:y,aspirateSubmergeZOffset:I,aspirateXOffset:b,aspirateYOffset:w,aspirateZOffset:S,blowoutFlowRateUlSec:L,blowoutLocation:g,changeTip:T,destLabware:A,destWell:E,dispenseDelay:v,dispenseFlowRateUlSec:R,dispensePositionReference:M,dispenseRetractPositionReference:F,dispenseRetractXOffset:G,dispenseRetractYOffset:Y,dispenseRetractZOffset:oe,dispenseSubmergeDelay:fe,dispenseSubmergePositionReference:J,dispenseSubmergeSpeed:Re,dispenseSubmergeXOffset:Ve,dispenseSubmergeYOffset:Me,dispenseSubmergeZOffset:We,dispenseXOffset:ie,dispenseYOffset:Ne,dispenseZOffset:Be,dropTipLocation:Ae,liquidClass:ae,mixInDestination:K,nozzles:j,pipette:k,primaryNozzle:B,pushOut:$,sourceLabware:re,sourceWells:V,tipRack:Z,tipTracking:W,tiprackSelected:x,tipsSelected:z,touchTipAfterAspirate:le,touchTipAfterAspirateMmFromEdge:xe,touchTipAfterAspirateOffsetMmFromTop:ot,touchTipAfterAspirateSpeed:Ge,touchTipAfterDispense:ye,touchTipAfterDispenseMmFromEdge:at,touchTipAfterDispenseOffsetMmFromTop:Tt,touchTipAfterDispenseSpeed:Ct,stepNumber:wt,volume:ke}=e,{pipetteEntities:st,labwareEntities:Ee,trashBinEntities:Ce,wasteChuteEntities:Fe}=t,ue="consolidate",ce=[],Dt=r.pipettes[k],Ze=st[k]?.spec.channels!==1,te=e.aspirateAirGapVolume??0,Te=e.dispenseAirGapVolume??0;Dt==null&&ce.push(ht({pipette:k})),(A==null||Ee[A]==null&&Ce[A]==null&&Fe[A]==null)&&ce.push(zh());const gr=ee(r.labware[A]?.stack),it=ee(r.labware[re]?.stack);Object.keys(Fe).length>0&&(gr===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA||it===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA)&&ce.push(Do());const we=[...Object.keys(t.trashBinEntities),...Object.keys(t.wasteChuteEntities)],lt=we.length>0?we[0]:null,en=Object.values(t.labwareEntities).find(({labwareDefURI:Se})=>Se===Ae),Mt=en!=null&&c.getIsTiprack(en.def),sa=t.wasteChuteEntities[Ae]!=null,tn=t.trashBinEntities[Ae]!=null,dr=r.tipState.pipettes[k]?.hasTip;(Ae==null||Mt&&lt==null&&T!=="never"&&dr||!Mt&&!sa&&!tn)&&ce.push(Fn());let Xe,se;if(T==="never"){const Se=r.tipState.pipettes[k]?.tiprackURI;Xe=t.labwareEntities[Se??""],se=Xe?.labwareDefURI}else Xe=Object.values(Ee).find(({labwareDefURI:Se})=>Se===Z),se=Z;Xe==null&&(T==="never"?ce.push(Yt({actionName:ue,pipette:k})):ce.push(_t({actionName:ue,labware:se})));const{def:Ft=null}=Xe??{},{spec:Le,name:dt,pythonName:ne}=st[k],X=c.getAllLiquidClassDefs()[ae===c.NONE_LIQUID_CLASS_NAME||ae==null?c.WATER_LIQUID_CLASS_NAME:ae].byPipette?.find(({pipetteModel:Se})=>Se===c.getFlexNameConversion(Le))?.byTipType.find(({tiprack:Se})=>Se===se)??null,{aspirate:ft}=X??{},{multiWellHandling:be}=rp({pipetteSpecs:Le,tiprackDefinition:Ft,volume:ke,path:"multiAspirate",numAspirateWells:V.length,numDispenseWells:1,aspirateAirGapByVolume:ft?.retract.airGapByVolume??[],conditioningByVolume:null,disposalByVolume:null}),{numWellsToFitInTip:ut}=be;if((!be.isSupported||ut==null||ut===1)&&ce.push(gI()),Ze&&j!==c.ALL){const Se=bt({robotState:r,invariantContext:t,pipetteId:k,labwareId:re,wellLocationOffset:{x:b,y:w},primaryNozzle:B,nozzleConfiguration:j});Se.isSafe||ce.push(jt({unsafePipetteMovementReason:Se.reason}));const me=bt({robotState:r,invariantContext:t,pipetteId:k,labwareId:A,wellLocationOffset:{x:ie,y:Ne},primaryNozzle:B,nozzleConfiguration:j});me.isSafe||ce.push(jt({unsafePipetteMovementReason:me.reason}))}const Zt=E!=null?Ee[re]?.def.wells[E]?.depth:null,Ut=c.getMmFromBottom(Be,M,Zt),rn=c.getMmFromBottom(We,J,Zt),fr=c.getMmFromBottom(oe,F,Zt);if(Ut!=null&&rn!=null&&Ut>rn&&ce.push(wI()),Ut!=null&&fr!=null&&Ut>fr&&ce.push(SI()),ce.length>0)return{errors:ce};const{tipracks:Er}=oa(k,se,t,r,B,j),mr=c.getByVolumeValue({liquidClass:ae,pipetteSpecs:Le,tiprackDefUri:se,targetVolume:ke,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Oe=Ce[A]?.pythonName??Fe[A]?.pythonName,$t=Ce[Ae]?.pythonName??Fe[Ae]?.pythonName,Ar=g==null?null:Ce[g]?.pythonName??Fe[g]?.pythonName,Lr=Ee[re].pythonName,nn=Ee[A]?.pythonName,Or=j===c.PARTIAL_COLUMN?ir({labwareDef:Ee[re].def,wells:V,primaryNozzle:B}):V,on=(j===c.PARTIAL_COLUMN&&E!=null&&Ee[A]!=null?ir({labwareDef:Ee[A].def,wells:[E],primaryNozzle:B}):[E])[0],an=Or.map(Se=>`${Lr}[${q(Se)}]`).join(", 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-)`,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(
-${Q(ea.join(`,
+)`,Xt=W===yt&&x!=null&&z!=null&&z.length>0?na({wellSets:z,nozzles:j,channels:Le.channels,primaryNozzle:B}):null,cn=Xt!=null&&Xe!=null&&j===c.PARTIAL_COLUMN?ir({labwareDef:Xe?.def,wells:Xt,primaryNozzle:B}):Xt,pn=x!=null?Ee[x]?.pythonName:null,dn=cn?.map(Se=>`${pn}[${q(Se)}]`).join(", "),to=[`volume=${ke}`,`source=[${an}]`,`dest=${sn!=null?`[${sn}]`:Oe}`,`new_tip=${q(Qa(T))}`,...Mt?["return_tip=True",...Ar!=null?[`trash_location=${Ar}`]:[]]:[`trash_location=${$t}`,"keep_last_tip=True"],...Le.channels>1?["group_wells=False"]:[],...Er.filteredSortedTiprackIds.length>0?[Xa({labwareEntities:Ee,tiprackIds:Er.filteredSortedTiprackIds})]:[],`liquid_class=${eo}`,...Xt!=null&&pn!=null?[`tips=[${dn}]`]:[]],ro=()=>({commands:[],python:`${ne}.consolidate_with_liquid_class(
+${Q(to.join(`,
 `))},
-)`}),pn=Rb(V,it),Kt=c.LOW_VOLUME_PIPETTES.includes(pt)?[R(kn,{pipetteId:N,volume:Ne})]:[],ra={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[J],offset:{x:Ve,y:Me,z:je}},Ut={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[M],offset:{x:G,y:Y,z:ae}},dr=n!=null?[R(Te,{seconds:n.seconds})]:[],na=c.getByVolumeValue({liquidClass:oe,pipetteSpecs:Le,tiprackDefUri:se,targetVolume:Ie,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Ar=O!=null?[R(Te,{seconds:O.seconds})]:[],aa=c.getByVolumeValue({liquidClass:oe,pipetteSpecs:Le,tiprackDefUri:se,targetVolume:te,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??a,dn=c.getByVolumeValue({liquidClass:oe,pipetteSpecs:Le,tiprackDefUri:se,targetVolume:te,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??k,oa=c.getByVolumeValue({liquidClass:oe,pipetteSpecs:Le,tiprackDefUri:se,targetVolume:Ie,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??a,fn=c.getByVolumeValue({liquidClass:oe,pipetteSpecs:Le,tiprackDefUri:se,targetVolume:Ie,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??k,Lr=xr({retractZOffset:ae,retractPositionReference:M,labwareId:A,labwareEntities:Ee,well:E}),Or=!Lr&&E!=null?[R(z,{pipetteId:N,labwareId:A,wellName:E,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})]:[],ao=[...Rn(pn,(Se,me)=>{const It=(Pe,Qt=!0)=>Ie>0&&!(I==="never"&&Ue&&Pe)?[...Qt?Or:[],R(Pt,{pipetteId:N}),R(vt,{pipetteId:N,volume:Ie,flowRate:oa,...na>0?{correctionVolume:na}:{}}),...dr]:[],$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(
+)`}),fn=Mb(V,ut),Qt=c.LOW_VOLUME_PIPETTES.includes(dt)?[N(kn,{pipetteId:k,volume:ke})]:[],no={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[J],offset:{x:Ve,y:Me,z:We}},qt={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[F],offset:{x:G,y:Y,z:oe}},hr=n!=null?[N(Ie,{seconds:n.seconds})]:[],oo=c.getByVolumeValue({liquidClass:ae,pipetteSpecs:Le,tiprackDefUri:se,targetVolume:Te,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,vr=v!=null?[N(Ie,{seconds:v.seconds})]:[],ao=c.getByVolumeValue({liquidClass:ae,pipetteSpecs:Le,tiprackDefUri:se,targetVolume:te,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??o,mn=c.getByVolumeValue({liquidClass:ae,pipetteSpecs:Le,tiprackDefUri:se,targetVolume:te,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??R,so=c.getByVolumeValue({liquidClass:ae,pipetteSpecs:Le,tiprackDefUri:se,targetVolume:Te,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??o,hn=c.getByVolumeValue({liquidClass:ae,pipetteSpecs:Le,tiprackDefUri:se,targetVolume:Te,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??R,Pr=Hr({retractZOffset:oe,retractPositionReference:F,labwareId:A,labwareEntities:Ee,well:E}),Rr=!Pr&&E!=null?[N(H,{pipetteId:k,labwareId:A,wellName:E,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})]:[],ia=[...Nn(fn,(Se,me)=>{const St=(Pe,tr=!0)=>Te>0&&!(T==="never"&&Ue&&Pe)?[...tr?Rr:[],N(Rt,{pipetteId:k}),N(Pt,{pipetteId:k,volume:Te,flowRate:so,...oo>0?{correctionVolume:oo}:{}}),...hr]:[],Vt=Pe=>E!=null&&ye?[N(Ot,{pipetteId:k,labwareId:A,wellName:E,...at!=null?{mmFromEdge:at}:{},zOffsetFromTop:Tt,...Ct!=null?{speed:Ct}:{}}),...St(Pe).length>0&&Pr?[N(H,{pipetteId:k,labwareId:A,wellName:E,wellLocation:qt})]:[]]:[],ve=me===0,Ue=me===fn.length-1,lo=Se.length,he=ke*lo,Qe=T==="always"||T==="once"&&ve;let _r=[];if(Qe){const Pe=Xt?.shift();_r=[P(aa,{pipette:k,primaryNozzle:B,nozzles:j,dropTipLocation:Mt&&lt!=null?lt:Ae,tipRack:se,...W===yt&&Pe!=null&&x!=null?{tipSelectionArgs:{tipRackId:x,tipWell:Pe}}:{}})]}const Nr=Nn(Se,(Pe,tr)=>{const Mr=tr===0;let Et=0,rr=R;Mr&&!Qe&&!ve?(Et=Te,rr=hn):Mr||(Et=te,rr=mn);const po={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[m],offset:{x:_,y,z:I}},In={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[i],offset:{x:u,y:p,z:d}},Tn=Hr({retractZOffset:d,retractPositionReference:i,labwareId:re,labwareEntities:Ee,well:Pe}),fo=!Tn&&Pe!=null?[N(H,{pipetteId:k,labwareId:re,wellName:Pe,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})]:[],wn=c.getByVolumeValue({liquidClass:ae,pipetteSpecs:Le,tiprackDefUri:se,targetVolume:Et,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Fr=Mr?[...c.LOW_VOLUME_PIPETTES.includes(t.pipetteEntities[k].name)?[N(kn,{pipetteId:k,volume:he})]:[],N(Rt,{pipetteId:k})]:[],mo=Et>0?[N(tt,{pipetteId:k,volume:Et,flowRate:rr,...wn>0?{correctionVolume:wn}:{},isAirGap:!0,pushOut:0}),...vr]:[],Ur=[...[N(H,{pipetteId:k,labwareId:re,wellName:Pe,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})],...mo,...Fr],Sn=[N(H,{pipetteId:k,labwareId:re,wellName:Pe,wellLocation:po}),N(H,{pipetteId:k,labwareId:re,...h!=null?{speed:h}:{},wellName:Pe,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[a],offset:{x:b,y:w,z:S}}}),...f!=null&&f.seconds>0?[N(Ie,{seconds:f.seconds})]:[]],Ir=le?[N(Ot,{pipetteId:k,labwareId:re,wellName:Pe,...xe!=null?{mmFromEdge:xe}:{},zOffsetFromTop:ot,...Ge!=null?{speed:Ge}:{}}),...te>0&&Tn?[N(H,{pipetteId:k,labwareId:re,wellName:Pe,wellLocation:In})]:[]]:[],$r=c.getByVolumeValue({liquidClass:ae,pipetteSpecs:Le,tiprackDefUri:se,targetVolume:te,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,nr=te>0?[...fo,N(Pt,{pipetteId:k,volume:te,flowRate:ao,...$r>0?{correctionVolume:$r}:{}}),...hr]:[],Tr=[N(Ho,{pipetteId:k,volume:ke,flowRate:o,correctionVolume:mr}),...hr],ho=[N(H,{pipetteId:k,labwareId:re,...l!=null?{speed:l}:{},wellName:Pe,wellLocation:In}),...s!=null&&s?.seconds>0?[N(Ie,{seconds:s.seconds})]:[]];return[...Ur,...Sn,...Tr,...ho,...Ir,...nr]}),kr=E!=null?[N(H,{pipetteId:k,labwareId:A,wellName:E,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION}),N(H,{pipetteId:k,labwareId:A,wellName:E,wellLocation:no,...Re!=null?{speed:Re}:{}})]:[N(qe,{pipetteId:k,fixtureId:A,offset:{x:0,y:0,z:0}})],uo=c.getByVolumeValue({liquidClass:ae,pipetteSpecs:Le,tiprackDefUri:se,targetVolume:te,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,_n=te>0?[N(tt,{pipetteId:k,volume:te,flowRate:mn,pushOut:0,correctionVolume:uo,isAirGap:!0}),...vr]:[],gt=E!=null?[N(H,{pipetteId:k,labwareId:A,wellName:E,wellLocation:no}),N(H,{pipetteId:k,labwareId:A,...Re!=null?{speed:Re}:{},wellName:E,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[M],offset:{x:ie,y:Ne,z:Be}}}),...fe!=null&&fe.seconds>0?[N(Ie,{seconds:fe.seconds})]:[]]:[],co=c.getByVolumeValue({liquidClass:ae,pipetteSpecs:Le,tiprackDefUri:se,targetVolume:he,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,yr=K!=null?0:$,Cr=[N(tt,{pipetteId:k,volume:he,flowRate:R,...yr!=null?{pushOut:yr}:{},correctionVolume:co}),...vr],Jt=(K!=null?c.getByVolumeValue({liquidClass:ae,pipetteSpecs:Le,tiprackDefUri:se,targetVolume:K.volume,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null}):o)??o,er=(K!=null?c.getByVolumeValue({liquidClass:ae,pipetteSpecs:Le,tiprackDefUri:se,targetVolume:K.volume,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null}):R)??R,yn=K!=null?Br({pipette:k,volume:K.volume,times:K.times,aspirateFlowRateUlSec:Jt,dispenseFlowRateUlSec:er,aspirateDelaySeconds:n?.seconds,dispenseDelaySeconds:v?.seconds,finalPushOut:$,invariantContext:t,liquidClass:ae,tiprack:se,generatePython:!1}):[],Dr=[N(xn,{pipetteId:k,flowRate:L})];let br=[];g==null||g===Xr?br=[...Vt(!0),...St(!0)]:g===zn&&E!=null?br=[N(H,{pipetteId:k,labwareId:A,wellName:E,wellLocation:{origin:c.WELL_ORIGIN_TOP}}),...Dr,...Vt(!0),...St(!0)]:br=[...Vt(!1),...St(!1),N(qe,{pipetteId:k,fixtureId:Object.values(Ce).length>0?Object.values(Ce)[0].id:Object.values(Fe)[0].id,offset:{x:0,y:0,z:0}}),...Dr,...St(!0,!1)];const bn=Mt&&(me===fn.length-1||T==="always")?[N(Zr,{pipette:k,dropTipLocation:se,isReturnTip:Mt})]:[];return[..._r,...Qt,...Nr,...kr,..._n,...gt,...Cr,...yn,...br,...bn]}),ro];return pe(ia,t,r)},UA=(e,t,r)=>{const{pipetteId:n,trashId:o,flowRate:a,volume:s}=e,{pipetteEntities:i,trashBinEntities:l}=t,u=l[o],p=i[n].pythonName,d=u.pythonName,f=[`volume=${s}`,`location=${d}`,`rate=${a} / ${p}.flow_rate.dispense`],m=()=>({commands:[],python:`${p}.dispense(
 ${Q(f.join(`,
 `))},
-)`}),h=[R(qe,{pipetteId:n,fixtureId:a,offset:Lt}),R(Je,{pipetteId:n,volume:s,flowRate:o}),m];return de(h,t,r)},kA=(e,t,r)=>{const{pipetteId:n,flowRate:a,volume:o,wasteChuteId:s}=e,{pipetteEntities:i,wasteChuteEntities:l}=t,u=l[s].pythonName,p=i[n].pythonName,d=[`volume=${o}`,`location=${u}`,`rate=${a} / ${p}.flow_rate.dispense`],f=()=>({commands:[],python:`${p}.dispense(
+)`}),h=[N(qe,{pipetteId:n,fixtureId:o,offset:vt}),N(tt,{pipetteId:n,volume:s,flowRate:a}),m];return pe(h,t,r)},$A=(e,t,r)=>{const{pipetteId:n,flowRate:o,volume:a,wasteChuteId:s}=e,{pipetteEntities:i,wasteChuteEntities:l}=t,u=l[s].pythonName,p=i[n].pythonName,d=[`volume=${a}`,`location=${u}`,`rate=${o} / ${p}.flow_rate.dispense`],f=()=>({commands:[],python:`${p}.dispense(
 ${Q(d.join(`,
 `))},
-)`}),m=[R(qe,{pipetteId:n,fixtureId:s,offset:Lt}),R(Je,{pipetteId:n,flowRate:a,volume:o}),f];return 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}[${F(he)}]`).join(", "),pn=[`name=${F(`${e.commandCreatorFnName}_step_${Ee}`)}`,...j!=null?[`base_liquid_class=${Ja(j,!0)}`]:[],`properties=${zo({args:e,pipetteName:c.isFlexPipette(it)?c.getFlexNameConversion(be):it,tiprackUri:X,liquidClassValuesForTip:Mt})}`],Kt=`${ge}.define_liquid_class(
-${Q(pn.join(`,
+)`}),m=[N(qe,{pipetteId:n,fixtureId:s,offset:vt}),N(tt,{pipetteId:n,flowRate:o,volume:a}),f];return pe(m,t,r)},Vb=(e,t,r)=>{const{aspirateDelay:n,aspirateFlowRateUlSec:o,aspiratePositionReference:a,aspirateRetractDelay:s,aspirateRetractPositionReference:i,aspirateRetractSpeed:l,aspirateRetractXOffset:u,aspirateRetractYOffset:p,aspirateRetractZOffset:d,aspirateSubmergeDelay:f,aspirateSubmergePositionReference:m,aspirateSubmergeSpeed:h,aspirateSubmergeXOffset:_,aspirateSubmergeYOffset:y,aspirateSubmergeZOffset:I,aspirateXOffset:b,aspirateYOffset:w,aspirateZOffset:S,blowoutFlowRateUlSec:L,blowoutLocation:g,changeTip:T,destLabware:A,destWells:E,dispenseDelay:v,dispenseFlowRateUlSec:R,dispensePositionReference:M,dispenseRetractDelay:F,dispenseRetractPositionReference:G,dispenseRetractSpeed:Y,dispenseRetractXOffset:oe,dispenseRetractYOffset:fe,dispenseRetractZOffset:J,dispenseSubmergeDelay:Re,dispenseSubmergePositionReference:Ve,dispenseSubmergeSpeed:Me,dispenseSubmergeXOffset:We,dispenseSubmergeYOffset:ie,dispenseSubmergeZOffset:Ne,dispenseXOffset:Be,dispenseYOffset:Ae,dispenseZOffset:ae,dropTipLocation:K,liquidClass:j,mixBeforeAspirate:k,nozzles:B,pipette:$,preWetTip:re,primaryNozzle:V,pushOut:Z,sourceLabware:W,sourceWell:x,tipRack:z,tipTracking:le,tiprackSelected:xe,tipsSelected:ot,touchTipAfterAspirate:Ge,touchTipAfterAspirateMmFromEdge:ye,touchTipAfterAspirateOffsetMmFromTop:at,touchTipAfterAspirateSpeed:Tt,touchTipAfterDispense:Ct,touchTipAfterDispenseMmFromEdge:wt,touchTipAfterDispenseOffsetMmFromTop:ke,touchTipAfterDispenseSpeed:st,stepNumber:Ee,volume:Ce}=e,{pipetteEntities:Fe,labwareEntities:ue,trashBinEntities:ce,wasteChuteEntities:Dt}=t,Ze="distribute",te=[],Te=Fe[$]?.spec.channels!==1,gr=ue[W]?.def.parameters.quirks?.includes("touchTipDisabled"),it=e.aspirateAirGapVolume??0,ze=e.dispenseAirGapVolume??0,we=e.disposalVolume!=null&&e.disposalVolume>0?e.disposalVolume:0,lt=e.conditioningVolume!=null&&e.conditioningVolume>0?e.conditioningVolume:0;(r.pipettes[$]==null||Fe[$]==null)&&te.push(ht({pipette:$})),(!W||!r.labware[W])&&te.push(_t({actionName:Ze,labware:W}));const en=ee(r.labware[A]?.stack),Mt=ee(r.labware[W]?.stack);Object.keys(Dt).length>0&&(en===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA||Mt===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA)&&te.push(Do());const tn=[...Object.keys(t.trashBinEntities),...Object.keys(t.wasteChuteEntities)],dr=tn.length>0?tn[0]:null,Xe=Object.values(t.labwareEntities).find(({labwareDefURI:he})=>he===K),se=Xe!=null&&c.getIsTiprack(Xe.def),Ft=t.wasteChuteEntities[K]!=null,Le=t.trashBinEntities[K]!=null,dt=r.tipState.pipettes[$]?.hasTip;(K==null||se&&dr==null&&T!=="never"&&dt||!se&&!Ft&&!Le)&&te.push(Fn());let ne,X;if(T==="never"){const he=r.tipState.pipettes[$]?.tiprackURI;ne=t.labwareEntities[he??""],X=ne?.labwareDefURI}else ne=Object.values(ue).find(({labwareDefURI:he})=>he===z),X=z;ne==null&&(T==="never"?te.push(Yt({actionName:Ze,pipette:$})):te.push(_t({actionName:Ze,labware:X})));const{def:ft=null}=ne??{},{spec:be,name:ut,pythonName:Zt}=Fe[$],Ut=c.getAllLiquidClassDefs()[j===c.NONE_LIQUID_CLASS_NAME||j==null?c.WATER_LIQUID_CLASS_NAME:j].byPipette?.find(({pipetteModel:he})=>he===c.getFlexNameConversion(be))?.byTipType.find(({tiprack:he})=>he===X)??null,{aspirate:rn,multiDispense:fr}=Ut??{},{multiWellHandling:Er}=rp({pipetteSpecs:be,tiprackDefinition:ft,volume:Ce,path:"multiDispense",numAspirateWells:1,numDispenseWells:E.length,conditioningByVolume:fr?.conditioningByVolume??[],disposalByVolume:fr?.disposalByVolume??[],aspirateAirGapByVolume:rn?.retract.airGapByVolume??[]}),{numWellsToFitInTip:mr}=Er;if((!Er.isSupported||mr==null||mr===1)&&te.push(EI()),Te&&B!==c.ALL){const he=bt({robotState:r,invariantContext:t,pipetteId:$,labwareId:W,wellLocationOffset:{x:b,y:w},wellTargetName:x,primaryNozzle:V,nozzleConfiguration:B});he.isSafe||te.push(jt({unsafePipetteMovementReason:he.reason}));const Qe=bt({robotState:r,invariantContext:t,pipetteId:$,labwareId:A,wellLocationOffset:{x:Be,y:Ae},wellTargetName:E[0],primaryNozzle:V,nozzleConfiguration:B});Qe.isSafe||te.push(jt({unsafePipetteMovementReason:Qe.reason}))}const Oe=t.labwareEntities[W]?.def.wells[x]?.depth??null,$t=c.getMmFromBottom(S,a,Oe),Ar=c.getMmFromBottom(I,m,Oe),Lr=c.getMmFromBottom(d,i,Oe);$t!=null&&Ar!=null&&$t>Ar&&te.push(Hh()),$t!=null&&Lr!=null&&$t>Lr&&te.push(jh());const nn=[N(H,{pipetteId:$,labwareId:W,wellName:x,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})],Or=Ja($,t,X)-it;if(Math.floor((Or-we)/Ce)===0&&te.push(ba({actionName:Ze,volume:Ce,maxVolume:Or,disposalVolume:we})),te.length>0)return{errors:te};const{tipracks:an}=oa($,X,t,r,V,B),sn=c.getByVolumeValue({liquidClass:j,pipetteSpecs:be,tiprackDefUri:X,targetVolume:Ce,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,ln=ce[A]?.pythonName??Dt[A]?.pythonName,eo=ce[K]?.pythonName??Dt[K]?.pythonName,un=g==null?null:ce[g]?.pythonName??Dt[g]?.pythonName,Xt=ue[W].pythonName,cn=ue[A]?.pythonName,pn=(B===c.PARTIAL_COLUMN?ir({labwareDef:ue[W].def,wells:[x],primaryNozzle:V}):[x])[0],dn=B===c.PARTIAL_COLUMN&&E!=null&&ue[A]!=null?ir({labwareDef:ue[A].def,wells:E,primaryNozzle:V}):E,to=`${Xt}[${q(pn)}]`,ro=dn.map(he=>`${cn}[${q(he)}]`).join(", "),fn=[`name=${q(`${e.commandCreatorFnName}_step_${Ee}`)}`,...j!=null?[`base_liquid_class=${ra(j,!0)}`]:[],`properties=${Za({args:e,pipetteName:c.isFlexPipette(ut)?c.getFlexNameConversion(be):ut,tiprackUri:X,liquidClassValuesForTip:Ut})}`],Qt=`${ge}.define_liquid_class(
+${Q(fn.join(`,
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-)`,Ut=le===Ot&&xe!=null&&rt!=null&&rt.length>0?eo({wellSets:rt,nozzles:B,channels:be.channels,primaryNozzle:V}):null,dr=xe!=null?ue[xe]?.pythonName:null,Ar=(Ut!=null&&ne!=null&&B===c.PARTIAL_COLUMN?ar({labwareDef:ne?.def,wells:Ut,primaryNozzle:V}):Ut)?.map(he=>`${dr}[${F(he)}]`).join(", "),aa=[`volume=${Ce}`,`source=[${ea}]`,`dest=[${ta??on}]`,`new_tip=${F(Wo(I))}`,...se?["return_tip=True",...sn!=null?[`trash_location=${sn}`]:[]]:[`trash_location=${Jn}`,"keep_last_tip=True"],...be.channels>1?["group_wells=False"]:[],...nn.filteredSortedTiprackIds.length>0?[jo({labwareEntities:ue,tiprackIds:nn.filteredSortedTiprackIds})]:[],`liquid_class=${Kt}`,...Ut!=null&&dr!=null?[`tips=[${Ar}]`]:[]],dn=()=>({commands:[],python:`${Gt}.distribute_with_liquid_class(
-${Q(aa.join(`,
+)`,qt=le===yt&&xe!=null&&ot!=null&&ot.length>0?na({wellSets:ot,nozzles:B,channels:be.channels,primaryNozzle:V}):null,hr=xe!=null?ue[xe]?.pythonName:null,vr=(qt!=null&&ne!=null&&B===c.PARTIAL_COLUMN?ir({labwareDef:ne?.def,wells:qt,primaryNozzle:V}):qt)?.map(he=>`${hr}[${q(he)}]`).join(", "),ao=[`volume=${Ce}`,`source=[${to}]`,`dest=[${ro??ln}]`,`new_tip=${q(Qa(T))}`,...se?["return_tip=True",...un!=null?[`trash_location=${un}`]:[]]:[`trash_location=${eo}`,"keep_last_tip=True"],...be.channels>1?["group_wells=False"]:[],...an.filteredSortedTiprackIds.length>0?[Xa({labwareEntities:ue,tiprackIds:an.filteredSortedTiprackIds})]:[],`liquid_class=${Qt}`,...qt!=null&&hr!=null?[`tips=[${vr}]`]:[]],mn=()=>({commands:[],python:`${Zt}.distribute_with_liquid_class(
+${Q(ao.join(`,
 `))},
-)`}),oa={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[m],offset:{x:_,y,z:T}},fn={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[i],offset:{x:u,y:p,z:d}},Lr={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[Ve],offset:{x:je,y:ie,z:ke}},Or={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[G],offset:{x:ae,y:fe,z:J}},sa=c.getByVolumeValue({liquidClass:j,pipetteSpecs:be,tiprackDefUri:X,targetVolume:ot,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??a,ao=c.getByVolumeValue({liquidClass:j,pipetteSpecs:be,tiprackDefUri:X,targetVolume:ot,liquidHandlingAction:"multiDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??k,Se=c.getByVolumeValue({liquidClass:j,pipetteSpecs:be,tiprackDefUri:X,targetVolume:He,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??a,me=c.getByVolumeValue({liquidClass:j,pipetteSpecs:be,tiprackDefUri:X,targetVolume:He,liquidHandlingAction:"multiDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??k,It=Rb(E,pr),$t=xr({retractZOffset:d,retractPositionReference:i,labwareId:W,labwareEntities:ue,well:x}),ve=!$t&&x!=null?[R(z,{pipetteId:q,labwareId:W,wellName:x,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})]:[],ia=[...Rn(It,(he,Xe)=>{const fr=he.length,vr=Ce*fr,Pr=vr+we+st,la=Xe===0,mn=Xe===It.length-1,wt=I==="always"||I==="once"&&la,ua=c.LOW_VOLUME_PIPETTES.includes(it)?[R(kn,{pipetteId:q,volume:Pr})]:[];let mr=[];if(wt){const $e=Ut?.shift();mr=[P(ro,{pipette:q,nozzles:B,primaryNozzle:V,dropTipLocation:se&&ur!=null?ur:K,tipRack:X,...le===Ot&&$e!=null&&xe!=null?{tipSelectionArgs:{tipRackId:xe,tipWell:$e}}:{}})]}const Rr=[R(Pt,{pipetteId:q})],Zt=c.getByVolumeValue({liquidClass:j,pipetteSpecs:be,tiprackDefUri:X,targetVolume:He,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Xt=O!=null?[R(Te,{seconds:O.seconds})]:[],hn=He>0&&!wt&&!la&&we===0&&L==null?[R(Je,{isAirGap:!0,pipetteId:q,volume:He,flowRate:me,...Zt>0?{correctionVolume:Zt}:{},pushOut:0}),...Xt]:[],kr=[...tn,...hn,...ua,...Rr],hr=[R(z,{pipetteId:q,labwareId:W,wellName:x,wellLocation:oa}),R(z,{pipetteId:q,labwareId:W,...h!=null?{speed:h}:{},wellName:x,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[o],offset:{x:b,y:w,z:S}}}),...f!=null&&f.seconds>0?[R(Te,{seconds:f.seconds})]:[]],_n=re?$r({pipette:q,volume:vr,times:1,aspirateFlowRateUlSec:a,dispenseFlowRateUlSec:k,aspirateDelaySeconds:n?.seconds??0,dispenseDelaySeconds:O?.seconds??0,finalPushOut:0,invariantContext:t,liquidClass:j,tiprack:X,generatePython:!1}):[],Pe=N!=null?$r({pipette:q,volume:N.volume,times:N.times,aspirateFlowRateUlSec:a,dispenseFlowRateUlSec:k,aspirateDelaySeconds:n?.seconds,dispenseDelaySeconds:O?.seconds,finalPushOut:0,invariantContext:t,liquidClass:j,tiprack:X,generatePython:!1}):[],Qt=n!=null?[R(Te,{seconds:n.seconds})]:[],Nr=We?[R(At,{pipetteId:q,labwareId:W,wellName:x,...ye!=null?{mmFromEdge:ye}:{},zOffsetFromTop:nt,...bt!=null?{speed:bt}:{}}),...ot>0&&$t?[R(z,{pipetteId:q,labwareId:W,wellName:x,wellLocation:fn})]:[]]:[],St=c.getByVolumeValue({liquidClass:j,pipetteSpecs:be,tiprackDefUri:X,targetVolume:ot,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Jt=ot>0?[...ve,R(vt,{pipetteId:q,volume:ot,flowRate:sa,...St>0?{correctionVolume:St}:{}}),...Qt]:[],ca=c.getByVolumeValue({liquidClass:j,pipetteSpecs:be,tiprackDefUri:X,targetVolume:Pr,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,yn=c.getByVolumeValue({liquidClass:j,pipetteSpecs:be,tiprackDefUri:X,targetVolume:st,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,bn=st!=null&&st>0?[R(Je,{pipetteId:q,volume:st,flowRate:k,correctionVolume:yn,pushOut:0}),...Xt]:[],pa=[R(Ba,{pipetteId:q,volume:Pr,flowRate:a,correctionVolume:ca}),...Qt,...bn],Tn=[R(z,{pipetteId:q,labwareId:W,...l!=null?{speed:l}:{},wellName:x,wellLocation:fn}),...s!=null&&s?.seconds>0?[R(Te,{seconds:s.seconds})]:[]],Cr=Rn(he,($e,Dr)=>{const In=Dr===0,_r=Dr===he.length-1,Mr=mn&&_r;let er=0,yr=k;In&&ot>0?(er=ot,yr=ao):!In&&He>0&&st===0&&(er=He,yr=me);const fa=c.getByVolumeValue({liquidClass:j,pipetteSpecs:be,tiprackDefUri:X,targetVolume:er,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,oo=xr({retractZOffset:J,retractPositionReference:G,labwareId:A,labwareEntities:ue,well:$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 n=Yo(r,e.moduleId);if(n===null)return{errors:[pe()]};if(n.currentBlockActivity.type==="profile")return{errors:[oT()]};const{lidOpen:a,lidClosed:o,setBlockTemperature:s,deactivateBlockTemperature:i,setLidTemperature:l,deactivateLidTemperature:u}=FA(n,e),{blockTargetTemp:p,lidTargetTemp:d}=e,f=[];return a&&f.push(P(ay,{moduleId:e.moduleId})),o&&f.push(P(Kc,{moduleId:e.moduleId})),i&&f.push(P(ry,{moduleId:e.moduleId})),p!==null&&s&&f.push(P(oy,{moduleId:e.moduleId,celsius:p})),u&&f.push(P(ny,{moduleId:e.moduleId})),d!==null&&l&&f.push(P(Zc,{moduleId:e.moduleId,celsius:d})),de(f,t,r)};var Wu,Nh;function UA(){if(Nh)return Wu;Nh=1;var e=Da(),t=qy(),r=Vy();function n(a,o){return r(t(a,o,e),a+"")}return Wu=n,Wu}var Gu,Ch;function $A(){if(Ch)return Gu;Ch=1;var e=Gr(),t=ir();function r(n){return t(n)&&e(n)}return Gu=r,Gu}var Yu,Dh;function qA(){if(Dh)return Yu;Dh=1;var e=I_(),t=$a(),r=R_(),n=S_(),a=$A(),o=Math.max;function s(i){if(!(i&&i.length))return[];var l=0;return 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 new Error(`Transfer command creator expected N:N source-to-dest wells ratio. Got ${xe.length}:${O?.length} in labware`);const He="transfer",we=[];(!r.pipettes[V]||!Nt[V])&&we.push(mt({pipette:V})),(!H||!r.labware[H])&&we.push(ht({actionName:He,labware:H}));const st=r.labware[E]!=null?ee(r.labware[E].stack):"",Qr=ee(r.labware[H]?.stack),Ct=Object.keys(te).length>0,no=te[N]!=null,Jr=Ke[N]!=null;Ct&&(st===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA||Qr===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA)&&we.push(ka());const ur=[...Object.keys(t.trashBinEntities),...Object.keys(t.wasteChuteEntities)],Ze=ur.length>0?ur[0]:null,se=Object.values(t.labwareEntities).find(({labwareDefURI:me})=>me===N),Dt=se!=null&&c.getIsTiprack(se.def),Le=r.tipState.pipettes[V]?.hasTip;if(N==null||Dt&&Ze==null&&A!=="never"&&Le||!Dt&&!no&&!Jr)return{errors:[Mn()]};(!E||!Ie[E]&&!te[E]&&!Ke[E])&&we.push(Bh());let pt,ne;if(A==="never"){const me=r.tipState.pipettes[V]?.tiprackURI;pt=t.labwareEntities[me??""],ne=pt?.labwareDefURI}else pt=Object.values(Ie).find(({labwareDefURI:me})=>me===rt),ne=rt;if(pt==null&&(A==="never"?we.push(jt({actionName:He,pipette:V})):we.push(ht({actionName:He,labware:ne}))),we.length>0)return{errors:we};const X=n||0,dt=k||0,be=Go(V,t,ne)-X;if(be<=0||!isFinite(be))return we.push(ho({volume:ue,maxVolume:be,actionName:He})),{errors:we};const it=Math.ceil(ue/be);if(!isFinite(it)||it<=0)return we.push(ho({volume:ue,maxVolume:it,actionName:He})),{errors:we};const Gt=ue/it,Mt=Array(it).fill(Gt),en={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[h],offset:{x:y,y:T,z:b}},cr={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[l],offset:{x:p,y:d,z:f}},wr={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[je],offset:{x:ke,y:Be,z:Ae}},pr={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[ae],offset:{x:J,y:Re,z:Ve}},{spec:Oe,name:Ft,pythonName:Sr}=Nt[V],{tipracks:gr}=to(V,ne,t,r,W,le),tn=c.getAllLiquidClassDefs()[B===c.NONE_LIQUID_CLASS_NAME||B==null?c.WATER_LIQUID_CLASS_NAME:B].byPipette?.find(({pipetteModel:me})=>me===c.getFlexNameConversion(Oe))?.byTipType.find(({tiprack:me})=>me===ne)??null,Er=c.getByVolumeValue({liquidClass:B,pipetteSpecs:Oe,tiprackDefUri:ne,targetVolume:Gt,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,rn=c.getByVolumeValue({liquidClass:B,pipetteSpecs:Oe,tiprackDefUri:ne,targetVolume:Gt,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,nn=Ke[E]?.pythonName??te[E]?.pythonName,an=Ke[N]?.pythonName??te[N]?.pythonName,on=I==null?null:Ke[I]?.pythonName??te[I]?.pythonName,Jn=Ie[H].pythonName,sn=Ie[E]?.pythonName,Yt=le===c.PARTIAL_COLUMN?ar({labwareDef:Ie[H].def,wells:xe,primaryNozzle:W}):xe,ln=le===c.PARTIAL_COLUMN&&O!=null&&Ie[E]!=null?ar({labwareDef:Ie[E].def,wells:O,primaryNozzle:W}):O,un=Yt.map(me=>`${Jn}[${F(me)}]`).join(", "),cn=ln!=null&&sn!=null?ln.map(me=>`${sn}[${F(me)}]`).join(", "):null,ea=[`name=${F(`${e.commandCreatorFnName}_step_${ce}`)}`,...B!=null?[`base_liquid_class=${Ja(B,!0)}`]:[],`properties=${zo({args:e,pipetteName:c.isFlexPipette(Ft)?c.getFlexNameConversion(Oe):Ft,tiprackUri:ne,liquidClassValuesForTip:tn})}`],ta=`${ge}.define_liquid_class(
-${Q(ea.join(`,
+)`}),so={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[m],offset:{x:_,y,z:I}},hn={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[i],offset:{x:u,y:p,z:d}},Pr={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[Ve],offset:{x:We,y:ie,z:Ne}},Rr={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[G],offset:{x:oe,y:fe,z:J}},io=c.getByVolumeValue({liquidClass:j,pipetteSpecs:be,tiprackDefUri:X,targetVolume:it,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??o,ia=c.getByVolumeValue({liquidClass:j,pipetteSpecs:be,tiprackDefUri:X,targetVolume:it,liquidHandlingAction:"multiDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??R,Se=c.getByVolumeValue({liquidClass:j,pipetteSpecs:be,tiprackDefUri:X,targetVolume:ze,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??o,me=c.getByVolumeValue({liquidClass:j,pipetteSpecs:be,tiprackDefUri:X,targetVolume:ze,liquidHandlingAction:"multiDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??R,St=Mb(E,mr),Vt=Hr({retractZOffset:d,retractPositionReference:i,labwareId:W,labwareEntities:ue,well:x}),ve=!Vt&&x!=null?[N(H,{pipetteId:$,labwareId:W,wellName:x,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})]:[],lo=[...Nn(St,(he,Qe)=>{const _r=he.length,Nr=Ce*_r,kr=Nr+we+lt,uo=Qe===0,_n=Qe===St.length-1,gt=T==="always"||T==="once"&&uo,co=c.LOW_VOLUME_PIPETTES.includes(ut)?[N(kn,{pipetteId:$,volume:kr})]:[];let yr=[];if(gt){const $e=qt?.shift();yr=[P(aa,{pipette:$,nozzles:B,primaryNozzle:V,dropTipLocation:se&&dr!=null?dr:K,tipRack:X,...le===yt&&$e!=null&&xe!=null?{tipSelectionArgs:{tipRackId:xe,tipWell:$e}}:{}})]}const Cr=[N(Rt,{pipetteId:$})],Jt=c.getByVolumeValue({liquidClass:j,pipetteSpecs:be,tiprackDefUri:X,targetVolume:ze,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,er=v!=null?[N(Ie,{seconds:v.seconds})]:[],yn=ze>0&&!gt&&!uo&&we===0&&g==null?[N(tt,{isAirGap:!0,pipetteId:$,volume:ze,flowRate:me,...Jt>0?{correctionVolume:Jt}:{},pushOut:0}),...er]:[],Dr=[...nn,...yn,...co,...Cr],br=[N(H,{pipetteId:$,labwareId:W,wellName:x,wellLocation:so}),N(H,{pipetteId:$,labwareId:W,...h!=null?{speed:h}:{},wellName:x,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[a],offset:{x:b,y:w,z:S}}}),...f!=null&&f.seconds>0?[N(Ie,{seconds:f.seconds})]:[]],bn=re?Br({pipette:$,volume:Nr,times:1,aspirateFlowRateUlSec:o,dispenseFlowRateUlSec:R,aspirateDelaySeconds:n?.seconds??0,dispenseDelaySeconds:v?.seconds??0,finalPushOut:0,invariantContext:t,liquidClass:j,tiprack:X,generatePython:!1}):[],Pe=k!=null?Br({pipette:$,volume:k.volume,times:k.times,aspirateFlowRateUlSec:o,dispenseFlowRateUlSec:R,aspirateDelaySeconds:n?.seconds,dispenseDelaySeconds:v?.seconds,finalPushOut:0,invariantContext:t,liquidClass:j,tiprack:X,generatePython:!1}):[],tr=n!=null?[N(Ie,{seconds:n.seconds})]:[],Mr=Ge?[N(Ot,{pipetteId:$,labwareId:W,wellName:x,...ye!=null?{mmFromEdge:ye}:{},zOffsetFromTop:at,...Tt!=null?{speed:Tt}:{}}),...it>0&&Vt?[N(H,{pipetteId:$,labwareId:W,wellName:x,wellLocation:hn})]:[]]:[],Et=c.getByVolumeValue({liquidClass:j,pipetteSpecs:be,tiprackDefUri:X,targetVolume:it,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,rr=it>0?[...ve,N(Pt,{pipetteId:$,volume:it,flowRate:io,...Et>0?{correctionVolume:Et}:{}}),...tr]:[],po=c.getByVolumeValue({liquidClass:j,pipetteSpecs:be,tiprackDefUri:X,targetVolume:kr,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,In=c.getByVolumeValue({liquidClass:j,pipetteSpecs:be,tiprackDefUri:X,targetVolume:lt,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Tn=lt!=null&&lt>0?[N(tt,{pipetteId:$,volume:lt,flowRate:R,correctionVolume:In,pushOut:0}),...er]:[],fo=[N(Ho,{pipetteId:$,volume:kr,flowRate:o,correctionVolume:po}),...tr,...Tn],wn=[N(H,{pipetteId:$,labwareId:W,...l!=null?{speed:l}:{},wellName:x,wellLocation:hn}),...s!=null&&s?.seconds>0?[N(Ie,{seconds:s.seconds})]:[]],Fr=Nn(he,($e,Ur)=>{const Sn=Ur===0,Ir=Ur===he.length-1,$r=_n&&Ir;let nr=0,Tr=R;Sn&&it>0?(nr=it,Tr=ia):!Sn&&ze>0&&lt===0&&(nr=ze,Tr=me);const ho=c.getByVolumeValue({liquidClass:j,pipetteSpecs:be,tiprackDefUri:X,targetVolume:nr,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,la=Hr({retractZOffset:J,retractPositionReference:G,labwareId:A,labwareEntities:ue,well:$e}),ts=la?[]:[N(H,{pipetteId:$,labwareId:A,wellName:$e,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})],ua=$e!=null?[N(H,{pipetteId:$,labwareId:A,wellName:$e,wellLocation:Pr}),...nr>0?[N(tt,{isAirGap:!0,pipetteId:$,volume:nr,flowRate:Tr,pushOut:0,correctionVolume:ho}),...er]:[],N(H,{pipetteId:$,labwareId:A,...Me!=null?{speed:Me}:{},wellName:$e,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[M],offset:{x:Be,y:Ae,z:ae}}}),...Re!=null&&Re.seconds>0?[N(Ie,{seconds:Re.seconds})]:[]]:[N(qe,{fixtureId:A,pipetteId:$,offset:{x:0,y:0,z:0}})],_o=we===0&&Ir?Z:0,At=[N(tt,{pipetteId:$,volume:Ce,flowRate:R,..._o!=null?{pushOut:_o}:{},correctionVolume:sn}),...er],gn=$e!=null?[N(H,{pipetteId:$,labwareId:A,...Y!=null?{speed:Y}:{},wellName:$e,wellLocation:Rr}),...F!=null&&F?.seconds>0?[N(Ie,{seconds:F.seconds})]:[]]:[],Bt=Ir?[N(xn,{pipetteId:$,flowRate:L})]:[],ca=c.getByVolumeValue({liquidClass:j,pipetteSpecs:be,tiprackDefUri:X,targetVolume:ze,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,xt=(yo,rI=!0)=>ze>0&&!(Ur<he.length-1&&lt>0)&&!(T==="never"&&$r&&yo)?[...rI?ts:[],N(Rt,{pipetteId:$}),N(Pt,{pipetteId:$,volume:ze,flowRate:Se,...ca>0?{correctionVolume:ca}:{}}),...tr]:[],Lt=yo=>$e!=null&&Ct?[N(Ot,{pipetteId:$,labwareId:A,wellName:$e,...wt!=null?{mmFromEdge:wt}:{},zOffsetFromTop:ke,...st!=null?{speed:st}:{}}),...xt(yo).length>0&&la?[N(H,{pipetteId:$,labwareId:A,wellName:$e,wellLocation:Rr})]:[]]:[];let qr=[];if(g==null||!Ir)qr=[...Lt(!0),...xt(!0)];else if(g===zn)qr=[N(H,{pipetteId:$,labwareId:A,wellName:$e,wellLocation:{origin:c.WELL_ORIGIN_TOP}}),...Bt,...Lt(!0),...xt(!0)];else if(g===Xr){const yo=xt(!0);qr=[...Lt(!1),...xt(!1),N(H,{pipetteId:$,labwareId:W,wellName:x,wellLocation:{origin:c.WELL_ORIGIN_TOP}}),...Bt,...Ct&&!gr?[N(Ot,{pipetteId:$,labwareId:W,wellName:x,...wt!=null?{mmFromEdge:wt}:{},zOffsetFromTop:ke,...st!=null?{speed:st}:{}})]:[],...yo.length>0?[N(H,{pipetteId:$,labwareId:W,wellName:x,wellLocation:{origin:c.WELL_ORIGIN_TOP}})]:[],...xt(!0,!1)]}else qr=[...Lt(!1),...xt(!1),N(qe,{pipetteId:$,fixtureId:Object.values(ce).length>0?Object.values(ce)[0].id:Object.values(Dt)[0].id,offset:{x:0,y:0,z:0}}),...Bt,...xt(!0,!1)];return[...ua,...At,...gn,...qr]}),mo=se&&(Qe===St.length-1||T==="always")?[N(Zr,{pipette:$,dropTipLocation:X,isReturnTip:se})]:[];return[...yr,...Dr,...br,...Pe,...bn,...fo,...wn,...Mr,...rr,...Fr,...mo]}),mn];return pe(lo,t,r)},Bb=(e,t,r)=>{const{timerHours:n,timerMinutes:o,timerSeconds:a,latchOpen:s,targetTemperature:i,rpm:l}=e;if(e.moduleId==null)return{errors:[de()]};const u=kt(r,e.moduleId),p=e.moduleId??"";if(u==null)return{errors:[de()]};const d=[];if(s||d.push(P(oy,{moduleId:p})),i===null?d.push(P(ic,{moduleId:p})):d.push(P(jc,{moduleId:p,celsius:i})),l===null&&"targetSpeed"in u&&u.targetSpeed!==null?d.push(P(lc,{moduleId:p})):l!==null&&d.push(P(sy,{moduleId:p,rpm:l})),[n,o,a].some(m=>m!=null&&m!==0)){i!==null&&d.push(P(Kc,{moduleId:p,celsius:i}));const m=(n??0)*3600+(o??0)*60+(a??0);d.push(P(Ie,{seconds:m})),d.push(P(lc,{moduleId:p})),d.push(P(ic,{moduleId:p}))}return s&&d.push(P(ay,{moduleId:p})),pe(d,t,r)},xb=(e,t,r)=>{const{moduleId:n,profileElements:o,profileTargetLidTemp:a,profileVolume:s}=e,i=es(r,n);if(i===null)return{errors:[de()]};const l=t.moduleEntities[n].pythonName,u=[];i.lidOpen!==!1&&u.push(P(Zc,{moduleId:n})),a!==i.lidTargetTemp&&u.push(P(Xc,{moduleId:n,celsius:a}));const p=`${l}_task_${i.numProfilesStarted+1}`;return u.push(P(Z_,{moduleId:n,profileElements:o,blockMaxVolumeUl:s,taskId:p})),pe(u,t,r)},qA=()=>({lidOpen:!1,lidClosed:!1,setBlockTemperature:!1,deactivateBlockTemperature:!1,setLidTemperature:!1,deactivateLidTemperature:!1}),VA=(e,t)=>!e.lidOpen&&t.lidOpen?{lidOpen:!0}:{},BA=(e,t)=>e.lidOpen&&!t.lidOpen||e.lidOpen===null&&!t.lidOpen?{lidClosed:!0}:{},xA=(e,t)=>t==null?e.currentBlockActivity.type==="blockDeactivated":e.currentBlockActivity.type==="blockTargetTemp"&&e.currentBlockActivity.blockTargetTemp===t,zA=(e,t)=>{const r={...VA(e,t)},n={...BA(e,t)},o=!xA(e,t.blockTargetTemp),a=o&&t.blockTargetTemp===null,s=o&&t.blockTargetTemp!==null,i=e.lidTargetTemp!==t.lidTargetTemp,l=i&&t.lidTargetTemp===null,u=i&&t.lidTargetTemp!==null;return{...qA(),...r,...n,setBlockTemperature:s,deactivateBlockTemperature:a,setLidTemperature:u,deactivateLidTemperature:l}},zb=(e,t,r)=>{const n=es(r,e.moduleId);if(n===null)return{errors:[de()]};if(n.currentBlockActivity.type==="profile")return{errors:[cI()]};const{lidOpen:o,lidClosed:a,setBlockTemperature:s,deactivateBlockTemperature:i,setLidTemperature:l,deactivateLidTemperature:u}=zA(n,e),{blockTargetTemp:p,lidTargetTemp:d}=e,f=[];return o&&f.push(P(uy,{moduleId:e.moduleId})),a&&f.push(P(Zc,{moduleId:e.moduleId})),i&&f.push(P(iy,{moduleId:e.moduleId})),p!==null&&s&&f.push(P(cy,{moduleId:e.moduleId,celsius:p})),u&&f.push(P(ly,{moduleId:e.moduleId})),d!==null&&l&&f.push(P(Xc,{moduleId:e.moduleId,celsius:d})),pe(f,t,r)};var Qu,Dh;function HA(){if(Dh)return Qu;Dh=1;var e=Uo(),t=Hy(),r=jy();function n(o,a){return r(t(o,a,e),o+"")}return Qu=n,Qu}var Ju,Mh;function jA(){if(Mh)return Ju;Mh=1;var e=Kr(),t=cr();function r(n){return t(n)&&e(n)}return Ju=r,Ju}var ec,Fh;function WA(){if(Fh)return ec;Fh=1;var e=S_(),t=Bo(),r=k_(),n=E_(),o=jA(),a=Math.max;function s(i){if(!(i&&i.length))return[];var l=0;return i=e(i,function(u){if(o(u))return l=a(u.length,l),!0}),n(l,function(u){return t(i,r(u))})}return ec=s,ec}var tc,Uh;function GA(){if(Uh)return tc;Uh=1;var e=HA(),t=WA(),r=e(t);return tc=r,tc}var YA=GA();const KA=Ye(YA),Hb=(e,t,r)=>{const{aspirateAirGapVolume:n,aspirateDelay:o,aspirateFlowRateUlSec:a,aspiratePositionReference:s,aspirateRetractDelay:i,aspirateRetractPositionReference:l,aspirateRetractSpeed:u,aspirateRetractXOffset:p,aspirateRetractYOffset:d,aspirateRetractZOffset:f,aspirateSubmergeDelay:m,aspirateSubmergePositionReference:h,aspirateSubmergeSpeed:_,aspirateSubmergeXOffset:y,aspirateSubmergeYOffset:I,aspirateSubmergeZOffset:b,aspirateXOffset:w,aspirateYOffset:S,aspirateZOffset:L,blowoutFlowRateUlSec:g,blowoutLocation:T,changeTip:A,destLabware:E,destWells:v,dispenseAirGapVolume:R,dispenseDelay:M,dispenseFlowRateUlSec:F,dispensePositionReference:G,dispenseRetractDelay:Y,dispenseRetractPositionReference:oe,dispenseRetractSpeed:fe,dispenseRetractXOffset:J,dispenseRetractYOffset:Re,dispenseRetractZOffset:Ve,dispenseSubmergeDelay:Me,dispenseSubmergePositionReference:We,dispenseSubmergeSpeed:ie,dispenseSubmergeXOffset:Ne,dispenseSubmergeYOffset:Be,dispenseSubmergeZOffset:Ae,dispenseXOffset:ae,dispenseYOffset:K,dispenseZOffset:j,dropTipLocation:k,liquidClass:B,mixBeforeAspirate:$,mixInDestination:re,pipette:V,preWetTip:Z,primaryNozzle:W,pushOut:x,sourceLabware:z,nozzles:le,sourceWells:xe,tipRack:ot,tipTracking:Ge,tiprackSelected:ye,tipsSelected:at,touchTipAfterAspirate:Tt,touchTipAfterAspirateMmFromEdge:Ct,touchTipAfterAspirateOffsetMmFromTop:wt,touchTipAfterAspirateSpeed:ke,touchTipAfterDispense:st,touchTipAfterDispenseMmFromEdge:Ee,touchTipAfterDispenseOffsetMmFromTop:Ce,touchTipAfterDispenseSpeed:Fe,volume:ue,stepNumber:ce}=e,{pipetteEntities:Dt,trashBinEntities:Ze,wasteChuteEntities:te,labwareEntities:Te}=t,gr=Hn(Te,te,Ze,E),it=Te[z]?.def.parameters.quirks?.includes("touchTipDisabled");if(!(gr==="labware"&&v!=null&&xe.length===v.length||(gr==="wasteChute"||gr==="trashBin")&&v==null&&xe.length>=1))throw new Error(`Transfer command creator expected N:N source-to-dest wells ratio. Got ${xe.length}:${v?.length} in labware`);const ze="transfer",we=[];(!r.pipettes[V]||!Dt[V])&&we.push(ht({pipette:V})),(!z||!r.labware[z])&&we.push(_t({actionName:ze,labware:z}));const lt=r.labware[E]!=null?ee(r.labware[E].stack):"",en=ee(r.labware[z]?.stack),Mt=Object.keys(te).length>0,sa=te[k]!=null,tn=Ze[k]!=null;Mt&&(lt===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA||en===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA)&&we.push(Do());const dr=[...Object.keys(t.trashBinEntities),...Object.keys(t.wasteChuteEntities)],Xe=dr.length>0?dr[0]:null,se=Object.values(t.labwareEntities).find(({labwareDefURI:me})=>me===k),Ft=se!=null&&c.getIsTiprack(se.def),Le=r.tipState.pipettes[V]?.hasTip;if(k==null||Ft&&Xe==null&&A!=="never"&&Le||!Ft&&!sa&&!tn)return{errors:[Fn()]};(!E||!Te[E]&&!te[E]&&!Ze[E])&&we.push(zh());let dt,ne;if(A==="never"){const me=r.tipState.pipettes[V]?.tiprackURI;dt=t.labwareEntities[me??""],ne=dt?.labwareDefURI}else dt=Object.values(Te).find(({labwareDefURI:me})=>me===ot),ne=ot;if(dt==null&&(A==="never"?we.push(Yt({actionName:ze,pipette:V})):we.push(_t({actionName:ze,labware:ne}))),we.length>0)return{errors:we};const X=n||0,ft=R||0,be=Ja(V,t,ne)-X;if(be<=0||!isFinite(be))return we.push(ba({volume:ue,maxVolume:be,actionName:ze})),{errors:we};const ut=Math.ceil(ue/be);if(!isFinite(ut)||ut<=0)return we.push(ba({volume:ue,maxVolume:ut,actionName:ze})),{errors:we};const Zt=ue/ut,Ut=Array(ut).fill(Zt),rn={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[h],offset:{x:y,y:I,z:b}},fr={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[l],offset:{x:p,y:d,z:f}},Er={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[We],offset:{x:Ne,y:Be,z:Ae}},mr={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[oe],offset:{x:J,y:Re,z:Ve}},{spec:Oe,name:$t,pythonName:Ar}=Dt[V],{tipracks:Lr}=oa(V,ne,t,r,W,le),nn=c.getAllLiquidClassDefs()[B===c.NONE_LIQUID_CLASS_NAME||B==null?c.WATER_LIQUID_CLASS_NAME:B].byPipette?.find(({pipetteModel:me})=>me===c.getFlexNameConversion(Oe))?.byTipType.find(({tiprack:me})=>me===ne)??null,Or=c.getByVolumeValue({liquidClass:B,pipetteSpecs:Oe,tiprackDefUri:ne,targetVolume:Zt,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,on=c.getByVolumeValue({liquidClass:B,pipetteSpecs:Oe,tiprackDefUri:ne,targetVolume:Zt,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,an=Ze[E]?.pythonName??te[E]?.pythonName,sn=Ze[k]?.pythonName??te[k]?.pythonName,ln=T==null?null:Ze[T]?.pythonName??te[T]?.pythonName,eo=Te[z].pythonName,un=Te[E]?.pythonName,Xt=le===c.PARTIAL_COLUMN?ir({labwareDef:Te[z].def,wells:xe,primaryNozzle:W}):xe,cn=le===c.PARTIAL_COLUMN&&v!=null&&Te[E]!=null?ir({labwareDef:Te[E].def,wells:v,primaryNozzle:W}):v,pn=Xt.map(me=>`${eo}[${q(me)}]`).join(", "),dn=cn!=null&&un!=null?cn.map(me=>`${un}[${q(me)}]`).join(", "):null,to=[`name=${q(`${e.commandCreatorFnName}_step_${ce}`)}`,...B!=null?[`base_liquid_class=${ra(B,!0)}`]:[],`properties=${Za({args:e,pipetteName:c.isFlexPipette($t)?c.getFlexNameConversion(Oe):$t,tiprackUri:ne,liquidClassValuesForTip:nn})}`],ro=`${ge}.define_liquid_class(
+${Q(to.join(`,
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-)`,Kt=We===Ot&&ye!=null&&nt!=null&&nt.length>0?eo({wellSets:nt,nozzles:le,channels:Oe.channels,primaryNozzle:W}):null,ra=Kt!=null&&pt!=null&&le===c.PARTIAL_COLUMN?ar({labwareDef:pt?.def,wells:Kt,primaryNozzle:W}):Kt,Ut=ye!=null?Ie[ye]?.pythonName:null,dr=ra?.map(me=>`${Ut}[${F(me)}]`).join(", "),na=[`volume=${ue}`,`source=[${un}]`,`dest=${cn!=null?`[${cn}]`:nn}`,`new_tip=${F(Wo(A))}`,...Dt?["return_tip=True",...on!=null?[`trash_location=${on}`]:[]]:[`trash_location=${an}`,"keep_last_tip=True"],...Oe.channels>1?["group_wells=False"]:[],...gr.filteredSortedTiprackIds.length>0?[jo({labwareEntities:Ie,tiprackIds:gr.filteredSortedTiprackIds})]:[],`liquid_class=${ta}`,...Kt!=null&&Ut!=null?[`tips=[${dr}]`]:[]],Ar=()=>({commands:[],python:`${Sr}.transfer_with_liquid_class(
-${Q(na.join(`,
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+${Q(oo.join(`,
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-)`}),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=$;exports.vacuumCloseVent=xa;exports.vacuumCloseVentSetPumpPower=Vb;exports.vacuumCloseVentSetPumpPressure=Bb;exports.vacuumCloseVentStartProfile=xb;exports.vacuumModuleStateGetter=ct;exports.vacuumOpenVent=K_;exports.vacuumSetPumpPower=jc;exports.vacuumSetPumpPressure=Wc;exports.vacuumStartRunProfile=Gc;exports.vacuumStopPump=Q_;exports.waitForModuleTask=zb;exports.waitForTemperature=Yc;exports.wellFillFromWellContents=WE;
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eL=Ye(JA),Zb=["A1","B1","C1","D1","E1","F1","G1","H1","A2","B2","C2","D2","E2","F2","G2","H2","A3","B3","C3","D3","E3","F3","G3","H3","A4","B4","C4","D4","E4","F4","G4","H4","A5","B5","C5","D5","E5","F5","G5","H5","A6","B6","C6","D6","E6","F6","G6","H6","A7","B7","C7","D7","E7","F7","G7","H7","A8","B8","C8","D8","E8","F8","G8","H8","A9","B9","C9","D9","E9","F9","G9","H9","A10","B10","C10","D10","E10","F10","G10","H10","A11","B11","C11","D11","E11","F11","G11","H11","A12","B12","C12","D12","E12","F12","G12","H12"],Gr="p300SingleId",Po="p300MultiId",Ic="p100096Id",Tc="sourcePlateId",wc="destPlateId",Sc="troughId",tL="A1",rL="tiprack1Id",nL={isAirGap:!0},ma=c.fixture96Plate,qh=c.fixture12Trough,ha=c.fixtureTiprack10ul,zt=c.fixtureTiprack300ul,En=c.fixtureTiprack1000ul,_a=c.fixtureTiprackAdapter,Xb={OT_PD_DISABLE_MODULE_RESTRICTIONS:!1};function Qb(e){return Zb.reduce((t,r)=>({...t,[r]:e?qo:_e}),{})}function oL(e,t){return Array.from("ABCDEFGH").map(r=>`${r}${e}`).reduce((r,n)=>({...r,[n]:t}),{})}function Jb(){const e={[Tc]:{id:Tc,pythonName:"mock_source_plate",labwareDefURI:c.getLabwareDefURI(ma),def:ma},[wc]:{id:wc,pythonName:"mock_dest_plate",labwareDefURI:c.getLabwareDefURI(ma),def:ma},[Sc]:{id:Sc,pythonName:"mock_trough",labwareDefURI:c.getLabwareDefURI(qh),def:qh},tiprack1Id:{id:"tiprack1Id",pythonName:"mock_tip_rack_1",labwareDefURI:c.getLabwareDefURI(zt),def:zt},tiprack2Id:{id:"tiprack2Id",pythonName:"mock_tip_rack_2",labwareDefURI:c.getLabwareDefURI(zt),def:zt},tiprack3Id:{id:"tiprack3Id",pythonName:"mock_tip_rack_3",labwareDefURI:c.getLabwareDefURI(zt),def:zt},tiprack4AdapterId:{id:"tiprack4AdapterId",pythonName:"mock_adapter_4",labwareDefURI:c.getLabwareDefURI(_a),def:_a},tiprack5AdapterId:{id:"tiprack5AdapterId",pythonName:"mock_adapter_5",labwareDefURI:c.getLabwareDefURI(_a),def:_a},tiprack4Id:{id:"tiprack4Id",pythonName:"mock_tip_rack_4",labwareDefURI:c.getLabwareDefURI(En),def:En},tiprack5Id:{id:"tiprack5Id",pythonName:"mock_tip_rack_5",labwareDefURI:c.getLabwareDefURI(En),def:En}},t={},r={[oc]:{id:oc,location:"cutoutA3",pythonName:"trash_bin_1"}},n={p10SingleId:{name:"p10_single",id:"p10SingleId",pythonName:"mock_pipette_p10",tiprackDefURI:[c.getLabwareDefURI(ha)],tiprackLabwareDef:[ha],spec:c.fixtureP10SingleV2Specs},p10MultiId:{name:"p10_multi",id:"p10MultiId",tiprackDefURI:[c.getLabwareDefURI(ha)],tiprackLabwareDef:[ha],spec:c.fixtureP10MultiV2Specs,pythonName:"mock_pipette_p10_multi"},[Gr]:{name:"p300_single",id:Gr,tiprackDefURI:[c.getLabwareDefURI(zt)],tiprackLabwareDef:[zt],spec:c.fixtureP300SingleV2Specs,pythonName:"mock_pipette"},[Po]:{name:"p300_multi",id:Po,tiprackDefURI:[c.getLabwareDefURI(zt)],tiprackLabwareDef:[zt],spec:c.fixtureP300MultiV2Specs,pythonName:"mock_pipette_p300_multi"},[Ic]:{name:"p1000_96",id:Ic,tiprackDefURI:[c.getLabwareDefURI(En)],tiprackLabwareDef:[En],spec:c.fixtureP100096V2Specs,pythonName:"mock_pipette_p1000_96"}};return{labwareEntities:e,moduleEntities:t,pipetteEntities:n,trashBinEntities:r,wasteChuteEntities:{},stagingAreaEntities:{},gripperEntities:{},liquidEntities:{},runtimeParameters:{},config:Xb}}const Jr=e=>{const{invariantContext:t,labwareLocations:r,moduleLocations:n,pipetteLocations:o,tiprackSetting:a}=e,s=ep({invariantContext:t,labwareLocations:r,moduleLocations:n||{},pipetteLocations:o});return s.tipState.tipracks=lr(a,i=>Qb(i)),s},Jn=()=>({pipetteLocations:{[Gr]:{mount:"left",tiprackId:"tiprack1Id"},[Po]:{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:{}}),eI=()=>({pipetteLocations:{[Gr]:{mount:"left"},[Po]:{mount:"right"}},labwareLocations:{tiprack1Id:{stack:["tiprack1Id","B1"]},tiprack2Id:{stack:["tiprack2Id","A2"]},sourcePlateId:{stack:["sourcePlateId","offDeck"]},destPlateId:{stack:["destPlateId","C2"]}},moduleLocations:{}}),tI=e=>Jr({...Jn(),invariantContext:e,tiprackSetting:{tiprack1Id:!0,tiprack2Id:!0}}),aL=e=>Jr({...eI(),invariantContext:e,tiprackSetting:{tiprack1Id:!0,tiprack2Id:!0}}),sL=e=>({robotState:tI(e),warnings:[]}),iL=e=>{const t=Jr({...Jn(),invariantContext:e,tiprackSetting:{tiprack1Id:!0,tiprack2Id:!0}});return t.tipState.pipettes[Gr]={hasTip:!0,tiprackURI:"tiprack1Id"},t},lL=e=>{const t=Jr({...Jn(),invariantContext:e,tiprackSetting:{tiprack1Id:!0}});return t.tipState.pipettes[Gr]={hasTip:!0,tiprackURI:"tiprack1Id"},t.tipState.tipracks.tiprack1Id.A1=_e,t},uL=e=>Jr({...Jn(),invariantContext:e,tiprackSetting:{tiprack1Id:!1,tiprack2Id:!1}}),cL=({temperatureModuleId:e,thermocyclerId:t})=>{const r=Jb();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=Jr({...Jn(),invariantContext:r,tiprackSetting:{tiprack1Id:!0}});return n.modules={[e]:{slot:"3",moduleState:{type:c.TEMPERATURE_MODULE_TYPE,status:$o,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}},pL=(e,t,r,n)=>{const o=eL(e);return o.modules[t].moduleState={type:c.TEMPERATURE_MODULE_TYPE,targetTemperature:n,status:r},o};exports.ABSORBANCE_READER_INITIAL_STATE=Jh;exports.AIR=Ke;exports.AIR_GAP_META=nL;exports.AIR_GAP_OFFSET_FROM_TOP=nc;exports.AUTOMATIC=Ia;exports.BACK_LEFT_NOZZLES=d_;exports.BOTTOM_UP_LABWARE_POOL_KEYS=ar;exports.BOTTOM_UP_STORED_LABWARE_URI_KEYS=zI;exports.CLEAN=qo;exports.COLUMN_4_SLOTS=De;exports.CUSTOM_LABWARE_DICT_NAME=Va;exports.DEFAULT_BLOWOUT_WELL=tL;exports.DEFAULT_CONFIG=Xb;exports.DEFAULT_PIPETTE=Gr;exports.DEST_LABWARE=wc;exports.DEST_WELL_BLOWOUT_DESTINATION=zn;exports.DIRTY=or;exports.EMPTY=_e;exports.FAKE_HOPPER_LOCATION_MAP=i_;exports.FIXED_TRASH_ID=oc;exports.FLEX_STACKER_MODULE_INITIAL_STATE=t_;exports.FLEX_TRASH_DEF_URI=BI;exports.GRIPPER_LOCATION=o_;exports.HEATERSHAKER_MODULE_INITIAL_STATE=Qh;exports.HOPPER_FAKE_LOCATIONS=s_;exports.HOPPER_STACKER_LOCATION=rt;exports.INDENT=Wo;exports.MAGNETIC_BLOCK_INITIAL_STATE=e_;exports.MAGNETIC_MODULE_INITIAL_STATE=Kh;exports.MANUAL=yt;exports.MAX_STACKABLE_VACUUM_SPACERS=c_;exports.MIXED_WELL_COLOR=ub;exports.MODULES_WITH_COLLISION_ISSUES=Yh;exports.MODULE_INITIAL_STATE_BY_TYPE=n_;exports.MULTI_PIPETTE=Po;exports.NOZZLE_STYLES=La;exports.OFF_DECK=Cn;exports.OT2_TC_SLOTS=xI;exports.OT_2_TRASH_DEF_URI=VI;exports.PAPI_VERSION=pb;exports.PD_APPLICATION_VERSION=oA;exports.PIPETTE_96=Ic;exports.PRIMARY_NOZZLES=Oa;exports.PROTOCOL_CONTEXT_NAME=ge;exports.SLOT_LOCATIONS_TO_FAKE_HOPPER_LOCATIONS=HI;exports.SOURCE_LABWARE=Tc;exports.SOURCE_WELL_BLOWOUT_DESTINATION=Xr;exports.STAGING_AREA_SLOTS=a_;exports.TEMPERATURE_APPROACHING_TARGET=Ec;exports.TEMPERATURE_AT_TARGET=gc;exports.TEMPERATURE_DEACTIVATED=$o;exports.TEMPERATURE_MODULE_INITIAL_STATE=Zh;exports.THERMOCYCLER_MODULE_INITIAL_STATE=Xh;exports.TIPRACK_1=rL;exports.TOUCHED_PIPETTABLE_LABWARE=yc;exports.TROUGH_LABWARE=Sc;exports.VACUUM_AT_TARGET=JI;exports.VACUUM_DEACTIVATED=QI;exports.VACUUM_DOCK_ADDRESSABLE_AREA=l_;exports.VACUUM_DOCK_DISPLAY_LOCATION=p_;exports.VACUUM_DOCK_LOCATION=Ac;exports.VACUUM_MODE_POWER=ac;exports.VACUUM_MODE_PRESSURE=sc;exports.VACUUM_MODULE_INITIAL_STATE=r_;exports.VACUUM_PROGRAM_PROFILE=WI;exports.VACUUM_PROGRAM_STATE=jI;exports.VACUUM_SPACER_LOAD_NAMES=u_;exports.VACUUM_STATE_PUMP_OFF=GI;exports.VACUUM_STATE_PUMP_ON=YI;exports.VACUUM_STATE_VENT=KI;exports.VACUUM_VENT_CLOSED=Vo;exports.VACUUM_VENT_OPEN=Lc;exports.VACUUM_VENT_SET_CLOSED=XI;exports.VACUUM_VENT_SET_OPEN=ZI;exports.ZERO_OFFSET=vt;exports._getNextTip=Rb;exports._wellContentsForLabware=YE;exports.absorbanceReaderCloseInitialize=Nb;exports.absorbanceReaderCloseLid=$a;exports.absorbanceReaderCloseRead=kb;exports.absorbanceReaderCollision=Yo;exports.absorbanceReaderInitialize=F_;exports.absorbanceReaderOpenLid=U_;exports.absorbanceReaderRead=$_;exports.absorbanceReaderStateGetter=Qn;exports.airGapLocationHelper=Yw;exports.aspirate=Lw;exports.assignContainsAmongSiblings=yp;exports.blowOutInWell=xc;exports.captureImage=q_;exports.column4StagingSlotIdFromFlexStackerShuttleAddressableArea=Ly;exports.commandCreatorsTimeline=OE;exports.comment=V_;exports.consolidate=qb;exports.constructInvariantContextFromAnalysis=CE;exports.createEmptyLiquidState=Ty;exports.createStagingAreaForInvariantContext=cc;exports.createTipLiquidState=wy;exports.curryCommandCreator=P;exports.curryWithoutPython=N;exports.deactivateTemperature=x_;exports.deckSlotKeyForFlexStackerShuttleAddressableArea=Xw;exports.delay=Ie;exports.delayLocationHelper=Kw;exports.disengageMagnet=z_;exports.dispense=zc;exports.dispenseLocationHelper=Ww;exports.distribute=Vb;exports.dropTip=Zr;exports.dropTipInPlace=qa;exports.dropTipInTrash=Fb;exports.dropTipInWasteChute=Ub;exports.engageMagnet=H_;exports.enrichRobotStateForStackGraphTraversals=kg;exports.flexStackerEmpty=j_;exports.flexStackerFillItems=W_;exports.flexStackerRetrieve=G_;exports.flexStackerStateGetter=It;exports.flexStackerStore=Y_;exports.formatChangeTipArg=Qa;exports.formatPyDict=zr;exports.formatPyList=J_;exports.formatPyRuntimeValue=Je;exports.formatPyStr=q;exports.formatPyTuple=Q_;exports.formatPyValue=ur;exports.formatPyWellLocation=Gt;exports.getAddressableAreaFromModule=_p;exports.getAddressableAreaNameFromLabwareLocation=Lg;exports.getAllLargestStacks=Yy;exports.getAllProvidedAddressableAreasFromDeckConfig=Ky;exports.getAllWellsForLabware=lb;exports.getCanPlaceStackableVacuumSpacer=my;exports.getChunkForIndentingLists=Ba;exports.getCommandCreatorFromStepArgs=PA;exports.getCustomLiquidClassProperties=Za;exports.getCutoutFromSlot=Eb;exports.getCutoutIdByAddressableArea=hy;exports.getDefaultPrimaryNozzle=ga;exports.getDefineLiquids=yb;exports.getDispenseAirGapLocation=Sy;exports.getFlexStackerCutoutBaseDeckSlotId=tp;exports.getFlexStackerShuttleAddressableArea=za;exports.getFullStackFromLabwares=Ha;exports.getFullStackFromNodeTopDownRecursive=Ka;exports.getHasNoWellsFromCCArgs=PE;exports.getInitialRobotStateStandard=tI;exports.getInitialRobotStateWithOffDeckLabwareStandard=aL;exports.getIsHeaterShakerEastWestMultiChannelPipette=Zn;exports.getIsHeaterShakerEastWestWithLatchOpen=Kn;exports.getIsHeaterShakerNorthSouthOfNonTiprackWithMultiChannelPipette=Jo;exports.getIsInPipettableLocation=Ny;exports.getIsLabwareCompatibleWithStack=vy;exports.getIsRetractSafeForAirGap=Hr;exports.getIsSafePickupWithinTiprack=wp;exports.getIsSlotAHopper=Py;exports.getIsSlotAVacuumDock=Ao;exports.getIsSpaceInHopper=ap;exports.getIsStackableVacuumSpacer=Eo;exports.getIsTallLabwareEastWestOfHeaterShaker=sb;exports.getIsVacuumSpacer=py;exports.getIsVacuumSpacerSeat=dy;exports.getLabwareHasLid=Ry;exports.getLabwareHasLiquid=Ey;exports.getLabwareIdOnShuttle=np;exports.getLabwareSlot=Wn;exports.getLargestStackContainingLabware=Gy;exports.getLargestStackInSlot=go;exports.getLiquidClassName=ra;exports.getLiquidIdsOnLabware=XE;exports.getLiquidIdsOnLabwareStack=ZE;exports.getLoadAdapters=fb;exports.getLoadLabware=hb;exports.getLoadLidStacks=mb;exports.getLoadLiquidClasses=Ib;exports.getLoadLiquids=bb;exports.getLoadModules=db;exports.getLoadPipettes=_b;exports.getLoadTrashBins=Tb;exports.getLoadWasteChute=wb;exports.getLocationTotalVolume=wr;exports.getModuleHasLiveTask=Gn;exports.getModuleIdFromRobotStateStack=Go;exports.getModuleLocationSlot=Zw;exports.getModuleState=kt;exports.getNearestParentInStack=Ay;exports.getNextRobotStateAndWarnings=Ip;exports.getNextRobotStateAndWarningsSingleCommand=ab;exports.getNextTiprack=oa;exports.getNodeParentModuleId=Eg;exports.getNozzleConfig=Tp;exports.getPipetteCenteringFullOffset=Ob;exports.getPipetteIdFromCCArgs=vE;exports.getPipetteMovementSafetyStatus=bt;exports.getPipetteWithTipMaxVol=Ja;exports.getProvidedAddressableAreasExposed=Og;exports.getPythonAssignTipRacksString=Xa;exports.getResultingTimelineFrameFromRunCommands=ME;exports.getRobotInitialStateNoTipsRemain=uL;exports.getRobotStateAndWarningsStandard=sL;exports.getRobotStatePickedUpTipStandard=lL;exports.getRobotStateWithTipStandard=iL;exports.getRunTimeParameters=mA;exports.getSetStoredLabware=gb;exports.getSlotInLocationStack=ee;exports.getStackForLabwareLocation=uc;exports.getStackableVacuumSpacerLoadNamesInStack=fy;exports.getStackedOnNodeFromPdStack=Zy;exports.getStateAndContextTempTCModules=cL;exports.getTargetTipsFromWellSets=na;exports.getThermocyclerProfileRepetitionsForPython=vb;exports.getTipColumn=oL;exports.getTipColumnIndex=bc;exports.getTipColumnName=Sp;exports.getTipRowName=On;exports.getTiprackHasTips=gy;exports.getTiprackTipstate=Qb;exports.getTopLocationInStack=xa;exports.getTopmostLabwareOnModuleFromStackRobotState=Jw;exports.getTransferPlanAndReferenceVolumes=rp;exports.getTrashBinAddressableAreaName=Qc;exports.getTrashLocationFromAddressableAreaName=yy;exports.getTrashOrLabware=Hn;exports.getVolumesPerLiquid=KE;exports.getWasteChuteAddressableAreaNamePip=_y;exports.getWellsForTips=Jc;exports.heaterShaker=Bb;exports.indentPyLines=Q;exports.labwareMatchesLabwareInHopper=op;exports.makeContext=Jb;exports.makeInitialRobotState=ep;exports.makeState=Jr;exports.makeStateArgsLabwareOffDeck=eI;exports.makeStateArgsStandard=Jn;exports.mergeLiquid=Sr;exports.mix=$b;exports.mixBlowoutLocationHelper=Iy;exports.modulePipetteCollision=Yn;exports.moveHelper=Gw;exports.moveLabware=K_;exports.moveToAddressableArea=qe;exports.moveToAddressableAreaForDropTip=Hc;exports.pipetteAdjacentHeaterShakerWhileShaking=Xn;exports.pipetteIntoHeaterShakerLatchOpen=ea;exports.pipetteIntoHeaterShakerWhileShaking=ta;exports.pythonCustomLabwareDict=dA;exports.pythonDefRun=pA;exports.pythonImports=aA;exports.pythonMetadata=sA;exports.pythonRequirements=iA;exports.pythonRuntimeString=Nt;exports.reduceCommandCreators=pe;exports.repeatArray=by;exports.replaceTip=aa;exports.resolveAllowedRuntimeValue=Ht;exports.resolveBooleanRuntimeValue=je;exports.resolveDeckSlotKeyForLabwareStackInSlot=Oy;exports.resolveNumericRuntimeValue=D;exports.resolveRuntimeWellLocation=Dn;exports.resolveStringRuntimeValue=O;exports.robotWithStatusAndTemp=pL;exports.setTemperature=jc;exports.sortLabwareBySlot=Pb;exports.splitLiquid=sr;exports.stepCommands=Sb;exports.swatchColors=cb;exports.thermocyclerPipetteCollision=Xo;exports.thermocyclerProfileStep=xb;exports.thermocyclerStateGetter=es;exports.thermocyclerStateStep=zb;exports.tiprackWellNamesFlat=Zb;exports.touchTip=Ot;exports.transfer=Hb;exports.unrollThermocyclerProfile=gp;exports.uuid=U;exports.vacuumCloseVent=jo;exports.vacuumCloseVentSetPumpPower=jb;exports.vacuumCloseVentSetPumpPressure=Wb;exports.vacuumCloseVentStartProfile=Gb;exports.vacuumModuleStateGetter=pt;exports.vacuumOpenVent=X_;exports.vacuumSetPumpPower=Wc;exports.vacuumSetPumpPressure=Gc;exports.vacuumStartRunProfile=Yc;exports.vacuumStopPump=ny;exports.waitForModuleTask=Kb;exports.waitForTemperature=Kc;exports.wellFillFromWellContents=JE;