Prep aspirate: batched as the STAR's, every refusal the model can decide before the first move - #1371
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…ide before the first move The Prep's aspirate sent every container in one command at its cavity bottom's X, whatever the X, took its own argument names, and found a refusal only once the channels had moved. It now takes the STAR's names and order, plans the containers into batches by X (one LLD category a command), and checks every batch - lists, channels, reach, flow rates, clot heights, what each container holds and each tip has room for - before sending anything. A missing liquid height comes from the tracked volume, channels sharing a container spread across it, and the tip follows the container's profile, or a surface_following_distance scaled from it. It also takes piston_volumes, clld_sensitivity, immersion_depths and pre_mixes as the STAR does. A flow rate of 0 is refused, a blow-out of 0 is sent as given, a clot height other than 0 is refused until the check is verified, and a pressure LLD without p_lld is refused rather than sent seeking at 0 uL/s. A tip still holding liquid is dropped with a warning. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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… STAR 96-head PyLabRobot#1372/PyLabRobot#1373, VolumeTracker PyLabRobot#1377 v1 keeps its own code where it has moved on: the three-layer aspirate and dispense, the surface following rule, head8's auto_surface_following, the 96-head's layout, the resolver. From main, as decided in review: the Prep second session private as `_second_io` and always on with a host, Well-only cross-section and bottom types, the aspirate tests' command check, the reworded docstrings, and the rollback test. Legacy is main's again, but for `_get_core_x` reading the holder's centre (PyLabRobot#1389), and the 1000 uL holder's tools stand on its centre. Duplicates the merge made are resolved. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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A Prep aspiration took one channel's firmware struct; nothing aspirated from containers, and nothing was refused before the device was.
aspirate(containers, volumes, ...)takes the STAR's argument names and order, batches the containers over the channels, and aspirates each batch with surface following, clot heights, pre-mixes and flow/blow-out checks; every refusal the model can decide comes before the first move.p_lld, or a seek outside 1–630 uL/s, is refused.LLDMode.ZTOUCHfor aspirate follows after it has run on a device.Tests: the aspirate frames (a golden-frame test over 21 calls, byte-identical to the driver this is extracted from), batching, refusals, surface following, mixes.
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