From 1b108b118223689db310f9cb9b29653aedd55d68 Mon Sep 17 00:00:00 2001
From: SunYujia <sunyujiaaa@163.com>
Date: Mon, 30 Jan 2023 14:26:29 +0800
Subject: [PATCH] version_initial

---
 fas_instance.py                               |  313 ++
 fas可视化.py                                  |   24 +
 faults/__init__.py                            |    0
 faults/__pycache__/__init__.cpython-311.pyc   |  Bin 0 -> 157 bytes
 .../__pycache__/retry_delay.cpython-311.pyc   |  Bin 0 -> 2024 bytes
 .../__pycache__/wear_and_tear.cpython-311.pyc |  Bin 0 -> 1685 bytes
 faults/retry_delay.py                         |   31 +
 faults/wear_and_tear.py                       |   31 +
 output.json                                   | 4082 +++++++++++++++++
 9 files changed, 4481 insertions(+)
 create mode 100644 fas_instance.py
 create mode 100644 fas可视化.py
 create mode 100644 faults/__init__.py
 create mode 100644 faults/__pycache__/__init__.cpython-311.pyc
 create mode 100644 faults/__pycache__/retry_delay.cpython-311.pyc
 create mode 100644 faults/__pycache__/wear_and_tear.cpython-311.pyc
 create mode 100644 faults/retry_delay.py
 create mode 100644 faults/wear_and_tear.py
 create mode 100644 output.json

diff --git a/fas_instance.py b/fas_instance.py
new file mode 100644
index 0000000..9d961b4
--- /dev/null
+++ b/fas_instance.py
@@ -0,0 +1,313 @@
+import salabim as sim
+from numpy.random import normal
+from faults.wear_and_tear import WearAndTear
+from faults.retry_delay import RetryDelay
+
+
+class ItemGenerator(sim.Component):
+
+    def animation_objects(self, id):
+        if id == 'Item':
+            ao0 = sim.AnimateText(text=self.name(), textcolor='fg', text_anchor='nw')
+            return 0, 10, ao0
+        else:
+            ao0 = sim.AnimateRectangle((-20, 0, 20, 20),
+                text=self.name(), fillcolor=id, textcolor='white', arg=self)
+            return 45, 0, ao0
+
+    def process(self):
+        for i in range(30):
+            # 设定为 30 items
+            # Clock()
+            Item()
+            print("item" + str(i) + " generated——————————")
+            yield self.hold(sim.Uniform(1, 2).sample())
+
+
+class Item(sim.Component):
+    def process(self):
+        self.enter(q)
+        yield self.request(crane)
+        Crane('Crane1', 30, logger)
+        yield self.request(Manual_Step)
+        ManualStep("MANUAL_INSPECTION", 37, logger).spawn()
+        yield self.request(conveyor)
+        Conveyor("CONVEYOR1", 30, logger).spawn()
+        yield self.request(Bowl_Feeder)
+        BowlFeeder("Bowl1", 30, logger)
+        ManualStep("MANUAL_ADD_COMPONENTS1", 21, logger)
+        Conveyor("CONVEYOR2", 30, logger)
+        # ————————添加retry delay故障——————————
+        # self.bowl2 = BowlFeeder("BOWL2", 10, logger).add_fault(RetryDelay(BowlFeeder("BOWL2", 10, logger)))
+        BowlFeeder("BOWL2", 10, logger)
+        ManualStep("MANUAL_ADD_COMPONENTS2", 34, logger)
+        Conveyor("CONVEYOR3", 30, logger)
+        Crane("CRANE_INPUT_SUBASSEMBLY_A", 10, logger)
+        ManualStep("MANUAL_COMBINE_SUBASSEMBLY_A", 34, logger)
+        Conveyor("CONVEYOR4", 30, logger)
+        Conveyor("CONVEYOR_INPUT_SUBASSEMBLY_B", 10, logger)
+        ManualStep("MANUAL_COMBINE_SUBASSEMBLY_B", 35, logger)
+        # ————————    添加磨损故障   ————————————
+        # Conveyor("CONVEYOR5", 30, logger).add_fault(WearAndTear(Conveyor("CONVEYOR5", 30, logger)))
+        Conveyor("CONVEYOR5", 30, logger)
+        BowlFeeder("BOWL3", 5, logger)
+        Conveyor("CONVEYOR6", 10, logger)
+        ManualStep("MANUAL_ADD_COVER_AND_BOLTS", 76, logger)
+        Conveyor("CONVEYOR7", 30, logger)
+        ManualStep("MANUAL_TIGHTEN_BOLTS1", 28, logger)
+        Conveyor("CONVEYOR8", 30, logger)
+        Conveyor("CONVEYOR_INPUT_SUBASSEMBLY_C", 10, logger)
+        ManualStep("MANUAL_COMBINE_SUBASSEMBLY_C", 60, logger)
+        Conveyor("CONVEYOR9", 21, logger)
+        ManualStep("MANUAL_TIGHTEN_BOLTS2", 16, logger)
+        Conveyor("CONVEYOR10", 21, logger)
+        BowlFeeder("BOWL4", 5, logger)
+        ManualStep("MANUAL_ADD_COMPONENTS3", 11, logger)
+        Conveyor("CONVEYOR11", 21, logger)
+        ManualStep("MANUAL_TIGHTEN_BOLTS3", 32, logger)
+        self.leave(q)
+        # 添加leave语句时，与上述步骤同时开始执行，queue始终为0，不增；（不添加leave语句只增不减）
+
+
+class BowlFeeder(sim.Component):
+    def __init__(self, name, duration, logger, debug=True):
+        super(BowlFeeder, self).__init__()
+        self.name = name
+        self.duration = duration
+        self.faults = []
+        self.logger = logger
+        self.debug = debug
+
+    def add_fault(self, fault):
+        self.faults.append(fault)
+
+    def process(self):
+        if self.debug:
+            sim.waiting = "waiting"
+            waiting.set()
+        if self.debug:
+            print(self.name + ": give")
+            giving.set()
+            giving.trigger(max=1)
+            print(self.name + ": given")
+        yield self.hold(delay(self.duration, 1))
+        self.logger.addMessage(self.name + " GIVEN")
+        self.release()
+
+    def spawn(self): # 尝试修改return的结果后调用spawn 未发现明显变化
+        self.process()
+        return self.passivate()
+
+    def get_events(self):
+        return [self.name + " GIVEN"]
+
+
+class ManualStep(sim.Component):
+    def __init__(self, name, duration, logger, debug=True):
+        super(ManualStep, self).__init__()
+        self.debug = debug
+        self.duration = duration
+        self.queue = 0
+        self.logger = logger
+        self.name = name
+
+    def process(self):
+        if self.debug:
+            print(self.name + ": input")
+        self.queue = self.queue + 1
+        if (self.queue >= 5):
+            self.logger.addMessage(self.name + " QUEUE_ALARM")
+        if self.debug:
+            print(self.name + ": process")
+            running.set()
+        self.queue = self.queue - 1
+        if self.debug:
+            print(self.name + ": ok")
+        if self.debug:
+            print(self.name + ": wait")
+            waiting.set()
+        yield self.hold(delay(self.duration, 5))
+        self.logger.addMessage(self.name + " OK")
+        self.release()
+
+    def spawn(self):
+        return self.process()
+
+    def get_events(self):
+        return [self.name + " QUEUE_ALARM", self.name + " OK"]
+
+
+class Crane(sim.Component):
+    def __init__(self, name, duration, logger, debug=True):
+        super(Crane, self).__init__()
+        self.debug = debug
+        self.duration = duration
+        self.queue = 0
+        self.logger = logger
+        self.name = name
+
+    def process(self):
+        if self.debug:
+            print(self.name + ": input")
+        # yield self.request(crane)
+        self.queue = self.queue + 1
+        if self.debug:
+            print(self.name + ": go_forward")
+            self.logger.addMessage(self.name + " FORWARD")
+        yield self.hold(delay(self.duration, 1))
+        self.release()
+        self.queue = self.queue - 1
+        running.set()
+        if self.debug:
+            print(self.name + ": wait")
+            waiting.set()
+        if self.debug:
+            print(self.name + ": item_taken")
+            running.set()
+            print(self.name + ": go_back")
+            self.logger.addMessage(self.name + " BACKWARD")
+        yield self.hold(delay(self.duration, 1))
+        print(self.name + ": stop")
+        self.logger.addMessage(self.name + " STOP")
+        self.passivate()
+
+    def spawn(self):
+        return self.process()
+
+    def get_events(self):
+        return [self.name + " FORWARD", self.name + " BACKWARD",
+                self.name + " STOP"]
+
+
+class Conveyor(sim.Component):
+    def __init__(self, name, duration, logger, debug= True):
+        super(Conveyor, self).__init__()
+        self.name = name
+        self.duration = duration
+        self.faults = []
+        self.logger = logger
+        self.debug = debug
+
+    def add_fault(self, fault):
+        self.faults.append(fault)
+
+    def process(self):
+        if self.debug:
+            waiting.set()
+            print(self.name + ": input")
+            self.logger.addMessage(self.name + " CONVEYOR_GATE")
+            giving.set()
+            giving.trigger(max=1)
+        if self.debug:
+            print(self.name + ": to_next_step")
+            # self.item = waitingline.pop()
+            # self.state = "giving"
+            yield delay(self.duration, 1)
+        for fault in self.faults:
+            yield fault.spawn()
+
+    def spawn(self): # 没有找到合适的函数替代原本spawn函数
+        return self.activate(process='process')
+
+    def get_events(self):
+        return [self.name + " CONVEYOR_GATE"]
+
+
+class Clock():# 未调用
+    def __init__(self, env, logger, debug=True):
+        self.debug = debug
+        self.env= env
+        self.logger = logger
+
+    def process(self):
+        print("Tick")
+        self.logger.addMessage("TICK")
+        yield 10
+
+    def spawn(self):
+        return self.process()
+
+    def get_events(self):
+        return ["TICK"]
+
+
+def delay(duration, percentage_variation):
+    stdev = percentage_variation / 100.0 * duration
+    random_additive_noise = normal(0, stdev)
+    return max(0, int(duration + random_additive_noise))
+
+
+class Logger:
+    """ This class logs all the messages. """
+    def __init__(self,env):
+        self.env = env
+        self.loglines = []
+
+    def addMessage(self, type, metadata = ""):
+        logline = LogLine(self.env.now(), type, metadata)
+        self.loglines.append(logline)
+
+    def indentLine(self, lineStr):
+        return "  " + lineStr
+
+    def indent(self, linesStr):
+        lines = linesStr.split("\n")
+        return "\n".join(map(self.indentLine, lines))
+
+    def getLoglines(self):
+        return "[\n" + (",\n".join(map(self.indent, map(str, self.loglines))) + "\n]\n")
+
+
+class LogLine:
+    def __init__(self, timestamp, msgtype, metadata):
+        self.timestamp = timestamp
+        self.msgtype = msgtype
+        self.metadata = metadata
+
+    def __str__(self):
+        return "{\n  \"timestamp\": " + str(self.timestamp) + ",\n  \"type\": \"" + self.msgtype + "\"\n}"
+
+
+env = sim.Environment()
+# env = sim.Environment(trace= True)
+
+giving = sim.State("giving")
+waiting = sim.State("waiting")
+running = sim.State("running")
+
+logger = Logger(env)
+ItemGenerator()
+# clock = Clock(env, logger)
+# clock.spawn() # clock函数不显示
+
+q = sim.Queue('queue')
+env.background_color('20%gray')
+Bowl_Feeder = sim.Resource("Bowl_Feeder", 1)
+conveyor = sim.Resource("conveyor", 1)
+crane = sim.Resource("crane", 1)
+Manual_Step= sim.Resource("Manual_Step",1)
+# 直接运行并存储 ——————————————————————————————————————————————
+# env.run()
+# print()
+# q.print_statistics()
+# f = open("output.json", "w")
+# f.write(logger.getLoglines())
+# f.close()
+# 可视化 ————————————————————————————————————————————————————
+qa0 = sim.AnimateQueue(q, x=100, y=250, title='queue, normal', direction='e', id='blue')
+qa1 = sim.AnimateQueue(q, x=100, y=350, title='queue, maximum 6 components', direction='e', max_length=6, id='red')
+qa2 = sim.AnimateQueue(q, x=100, y=150, title='queue, reversed', direction='e', reverse=True, id='green')
+
+sim.AnimateMonitor(q.length, x=10, y=450, width=480, height=100, horizontal_scale=3, vertical_scale=3)
+
+sim.AnimateMonitor(q.length_of_stay, x=10, y=570, width=480, height=100, horizontal_scale=5, vertical_scale=5)
+
+sim.AnimateText(text=lambda: q.length.print_histogram(as_str=True), x=500, y=750,
+    text_anchor='nw', font='narrow', fontsize=10)
+
+sim.AnimateText(text=lambda: q.print_info(as_str=True), x=500, y=340,
+    text_anchor='nw', font='narrow', fontsize=10)
+
+env.animate(True)
+env.modelname('Demo queue animation')
+env.run()
\ No newline at end of file
diff --git a/fas可视化.py b/fas可视化.py
new file mode 100644
index 0000000..1c770e2
--- /dev/null
+++ b/fas可视化.py
@@ -0,0 +1,24 @@
+import salabim as sim
+from fas复现.fas_instance import q
+from fas复现.fas_instance import ItemGenerator
+
+env = sim.Environment()
+ItemGenerator()
+env.background_color('20%gray')
+qa0 = sim.AnimateQueue(q, x=100, y=250, title='queue, normal', direction='e', id='blue')
+qa1 = sim.AnimateQueue(q, x=100, y=350, title='queue, maximum 6 components', direction='e', max_length=6, id='red')
+qa2 = sim.AnimateQueue(q, x=100, y=150, title='queue, reversed', direction='e', reverse=True, id='green')
+
+sim.AnimateMonitor(q.length, x=10, y=450, width=480, height=100, horizontal_scale=3, vertical_scale=3)
+
+sim.AnimateMonitor(q.length_of_stay, x=10, y=570, width=480, height=100, horizontal_scale=5, vertical_scale=5)
+
+sim.AnimateText(text=lambda: q.length.print_histogram(as_str=True), x=500, y=750,
+    text_anchor='nw', font='narrow', fontsize=10)
+
+sim.AnimateText(text=lambda: q.print_info(as_str=True), x=500, y=340,
+    text_anchor='nw', font='narrow', fontsize=10)
+
+env.animate(True)
+env.modelname('Demo queue animation')
+env.run()
\ No newline at end of file
diff --git a/faults/__init__.py b/faults/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/faults/__pycache__/__init__.cpython-311.pyc b/faults/__pycache__/__init__.cpython-311.pyc
new file mode 100644
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diff --git a/faults/retry_delay.py b/faults/retry_delay.py
new file mode 100644
index 0000000..ac8c119
--- /dev/null
+++ b/faults/retry_delay.py
@@ -0,0 +1,31 @@
+import salabim as sim
+import numpy as np
+from math import exp
+
+
+class RetryDelay(sim.Component):
+    """
+    This class represents the human operator retry delay type of fault.
+    Simulated RetryDelay faults only apply to BowlFeeders.
+    人为操作员重试延迟类型的故障。 模拟重试延迟故障
+    """
+    def __init__(self, module, debug=True):
+        super(RetryDelay, self).__init__()
+        self.debug = debug
+        self.t = 0
+        self.module = module
+
+    def process(self):
+        self.t = self.t + 1
+        # (poissrnd((exp(t/5)-1)/4) * 0.2 + 1)
+        # Note: The factor is zero-based so that it can be added as a separate delay.
+        delay_factor = np.random.poisson((exp(self.t/5)-1)/4) * 0.2 # 泊松分布
+        if self.debug:
+            print("FAULT: RETRY_DELAY: ", delay_factor)
+        yield self.add_delay(self.module.duration, delay_factor), 1
+
+    def add_delay(self, delay, delay_factor):
+        return delay * delay_factor
+
+    # def spawn(self):
+    #     return self.env.process(self.process())
diff --git a/faults/wear_and_tear.py b/faults/wear_and_tear.py
new file mode 100644
index 0000000..3366480
--- /dev/null
+++ b/faults/wear_and_tear.py
@@ -0,0 +1,31 @@
+from math import exp
+import salabim as sim
+
+
+class WearAndTear(sim.Component):
+
+    def __init__(self, module, debug=True):
+        super(WearAndTear, self).__init__()
+        self.debug = debug
+        self.t = 0
+        self.module = module
+
+    def process(self):
+        # with self.request() as req:
+        #     yield req
+        # yield self.request()
+        self.t = self.t + 1
+        # ((exp(t / 5.0) - 1) / 30 + 1)
+        # Note: The factor is zero-based so that it can be added as a separate delay.
+        delay_factor = (exp(self.t / 5.0) - 1) / 30
+        extra_delay = delay_factor * self.module.duration
+        if self.debug:
+            print("FAULT: WEAR_AND_TEAR ", extra_delay)
+        yield self.hold(extra_delay)
+        return
+
+    def spawn(self):
+        return self.process()
+
+
+# wear_and_tear = sim.Resource("wear_and_tear",10)
\ No newline at end of file
diff --git a/output.json b/output.json
new file mode 100644
index 0000000..96a3100
--- /dev/null
+++ b/output.json
@@ -0,0 +1,4082 @@
+[
+  {
+    "timestamp": 0,
+    "type": "Crane1 FORWARD"
+  },
+  {
+    "timestamp": 0,
+    "type": "CONVEYOR1 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 0,
+    "type": "CONVEYOR2 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 0,
+    "type": "CONVEYOR3 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 0,
+    "type": "CRANE_INPUT_SUBASSEMBLY_A FORWARD"
+  },
+  {
+    "timestamp": 0,
+    "type": "CONVEYOR4 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 0,
+    "type": "CONVEYOR_INPUT_SUBASSEMBLY_B CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 0,
+    "type": "CONVEYOR5 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 0,
+    "type": "CONVEYOR6 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 0,
+    "type": "CONVEYOR7 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 0,
+    "type": "CONVEYOR8 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 0,
+    "type": "CONVEYOR_INPUT_SUBASSEMBLY_C CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 0,
+    "type": "CONVEYOR9 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 0,
+    "type": "CONVEYOR10 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 0,
+    "type": "CONVEYOR11 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 1.9631432476096222,
+    "type": "Crane1 FORWARD"
+  },
+  {
+    "timestamp": 1.9631432476096222,
+    "type": "CONVEYOR1 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 1.9631432476096222,
+    "type": "CONVEYOR2 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 1.9631432476096222,
+    "type": "CONVEYOR3 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 1.9631432476096222,
+    "type": "CRANE_INPUT_SUBASSEMBLY_A FORWARD"
+  },
+  {
+    "timestamp": 1.9631432476096222,
+    "type": "CONVEYOR4 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 1.9631432476096222,
+    "type": "CONVEYOR_INPUT_SUBASSEMBLY_B CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 1.9631432476096222,
+    "type": "CONVEYOR5 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 1.9631432476096222,
+    "type": "CONVEYOR6 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 1.9631432476096222,
+    "type": "CONVEYOR7 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 1.9631432476096222,
+    "type": "CONVEYOR8 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 1.9631432476096222,
+    "type": "CONVEYOR_INPUT_SUBASSEMBLY_C CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 1.9631432476096222,
+    "type": "CONVEYOR9 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 1.9631432476096222,
+    "type": "CONVEYOR10 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 1.9631432476096222,
+    "type": "CONVEYOR11 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 3.198876131329658,
+    "type": "Crane1 FORWARD"
+  },
+  {
+    "timestamp": 3.198876131329658,
+    "type": "CONVEYOR1 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 3.198876131329658,
+    "type": "CONVEYOR2 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 3.198876131329658,
+    "type": "CONVEYOR3 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 3.198876131329658,
+    "type": "CRANE_INPUT_SUBASSEMBLY_A FORWARD"
+  },
+  {
+    "timestamp": 3.198876131329658,
+    "type": "CONVEYOR4 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 3.198876131329658,
+    "type": "CONVEYOR_INPUT_SUBASSEMBLY_B CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 3.198876131329658,
+    "type": "CONVEYOR5 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 3.198876131329658,
+    "type": "CONVEYOR6 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 3.198876131329658,
+    "type": "CONVEYOR7 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 3.198876131329658,
+    "type": "CONVEYOR8 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 3.198876131329658,
+    "type": "CONVEYOR_INPUT_SUBASSEMBLY_C CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 3.198876131329658,
+    "type": "CONVEYOR9 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 3.198876131329658,
+    "type": "CONVEYOR10 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 3.198876131329658,
+    "type": "CONVEYOR11 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 4,
+    "type": "BOWL4 GIVEN"
+  },
+  {
+    "timestamp": 4.780359251935959,
+    "type": "Crane1 FORWARD"
+  },
+  {
+    "timestamp": 4.780359251935959,
+    "type": "CONVEYOR1 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 4.780359251935959,
+    "type": "CONVEYOR2 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 4.780359251935959,
+    "type": "CONVEYOR3 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 4.780359251935959,
+    "type": "CRANE_INPUT_SUBASSEMBLY_A FORWARD"
+  },
+  {
+    "timestamp": 4.780359251935959,
+    "type": "CONVEYOR4 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 4.780359251935959,
+    "type": "CONVEYOR_INPUT_SUBASSEMBLY_B CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 4.780359251935959,
+    "type": "CONVEYOR5 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 4.780359251935959,
+    "type": "CONVEYOR6 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 4.780359251935959,
+    "type": "CONVEYOR7 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 4.780359251935959,
+    "type": "CONVEYOR8 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 4.780359251935959,
+    "type": "CONVEYOR_INPUT_SUBASSEMBLY_C CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 4.780359251935959,
+    "type": "CONVEYOR9 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 4.780359251935959,
+    "type": "CONVEYOR10 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 4.780359251935959,
+    "type": "CONVEYOR11 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 5,
+    "type": "BOWL3 GIVEN"
+  },
+  {
+    "timestamp": 5.963143247609622,
+    "type": "BOWL3 GIVEN"
+  },
+  {
+    "timestamp": 5.963143247609622,
+    "type": "BOWL4 GIVEN"
+  },
+  {
+    "timestamp": 6.007079101271646,
+    "type": "Crane1 FORWARD"
+  },
+  {
+    "timestamp": 6.007079101271646,
+    "type": "CONVEYOR1 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 6.007079101271646,
+    "type": "CONVEYOR2 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 6.007079101271646,
+    "type": "CONVEYOR3 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 6.007079101271646,
+    "type": "CRANE_INPUT_SUBASSEMBLY_A FORWARD"
+  },
+  {
+    "timestamp": 6.007079101271646,
+    "type": "CONVEYOR4 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 6.007079101271646,
+    "type": "CONVEYOR_INPUT_SUBASSEMBLY_B CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 6.007079101271646,
+    "type": "CONVEYOR5 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 6.007079101271646,
+    "type": "CONVEYOR6 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 6.007079101271646,
+    "type": "CONVEYOR7 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 6.007079101271646,
+    "type": "CONVEYOR8 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 6.007079101271646,
+    "type": "CONVEYOR_INPUT_SUBASSEMBLY_C CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 6.007079101271646,
+    "type": "CONVEYOR9 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 6.007079101271646,
+    "type": "CONVEYOR10 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 6.007079101271646,
+    "type": "CONVEYOR11 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 7.1988761313296585,
+    "type": "BOWL4 GIVEN"
+  },
+  {
+    "timestamp": 7.973670143379715,
+    "type": "Crane1 FORWARD"
+  },
+  {
+    "timestamp": 7.973670143379715,
+    "type": "CONVEYOR1 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 7.973670143379715,
+    "type": "CONVEYOR2 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 7.973670143379715,
+    "type": "CONVEYOR3 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 7.973670143379715,
+    "type": "CRANE_INPUT_SUBASSEMBLY_A FORWARD"
+  },
+  {
+    "timestamp": 7.973670143379715,
+    "type": "CONVEYOR4 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 7.973670143379715,
+    "type": "CONVEYOR_INPUT_SUBASSEMBLY_B CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 7.973670143379715,
+    "type": "CONVEYOR5 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 7.973670143379715,
+    "type": "CONVEYOR6 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 7.973670143379715,
+    "type": "CONVEYOR7 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 7.973670143379715,
+    "type": "CONVEYOR8 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 7.973670143379715,
+    "type": "CONVEYOR_INPUT_SUBASSEMBLY_C CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 7.973670143379715,
+    "type": "CONVEYOR9 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 7.973670143379715,
+    "type": "CONVEYOR10 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 7.973670143379715,
+    "type": "CONVEYOR11 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 8.198876131329659,
+    "type": "BOWL3 GIVEN"
+  },
+  {
+    "timestamp": 8.780359251935959,
+    "type": "BOWL3 GIVEN"
+  },
+  {
+    "timestamp": 9,
+    "type": "BOWL2 GIVEN"
+  },
+  {
+    "timestamp": 9.585179697766009,
+    "type": "Crane1 FORWARD"
+  },
+  {
+    "timestamp": 9.585179697766009,
+    "type": "CONVEYOR1 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 9.585179697766009,
+    "type": "CONVEYOR2 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 9.585179697766009,
+    "type": "CONVEYOR3 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 9.585179697766009,
+    "type": "CRANE_INPUT_SUBASSEMBLY_A FORWARD"
+  },
+  {
+    "timestamp": 9.585179697766009,
+    "type": "CONVEYOR4 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 9.585179697766009,
+    "type": "CONVEYOR_INPUT_SUBASSEMBLY_B CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 9.585179697766009,
+    "type": "CONVEYOR5 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 9.585179697766009,
+    "type": "CONVEYOR6 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 9.585179697766009,
+    "type": "CONVEYOR7 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 9.585179697766009,
+    "type": "CONVEYOR8 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 9.585179697766009,
+    "type": "CONVEYOR_INPUT_SUBASSEMBLY_C CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 9.585179697766009,
+    "type": "CONVEYOR9 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 9.585179697766009,
+    "type": "CONVEYOR10 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 9.585179697766009,
+    "type": "CONVEYOR11 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 9.780359251935959,
+    "type": "BOWL4 GIVEN"
+  },
+  {
+    "timestamp": 10,
+    "type": "CRANE_INPUT_SUBASSEMBLY_A BACKWARD"
+  },
+  {
+    "timestamp": 10.007079101271646,
+    "type": "BOWL3 GIVEN"
+  },
+  {
+    "timestamp": 10.007079101271646,
+    "type": "BOWL4 GIVEN"
+  },
+  {
+    "timestamp": 10.659286488248352,
+    "type": "Crane1 FORWARD"
+  },
+  {
+    "timestamp": 10.659286488248352,
+    "type": "CONVEYOR1 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 10.659286488248352,
+    "type": "CONVEYOR2 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 10.659286488248352,
+    "type": "CONVEYOR3 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 10.659286488248352,
+    "type": "CRANE_INPUT_SUBASSEMBLY_A FORWARD"
+  },
+  {
+    "timestamp": 10.659286488248352,
+    "type": "CONVEYOR4 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 10.659286488248352,
+    "type": "CONVEYOR_INPUT_SUBASSEMBLY_B CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 10.659286488248352,
+    "type": "CONVEYOR5 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 10.659286488248352,
+    "type": "CONVEYOR6 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 10.659286488248352,
+    "type": "CONVEYOR7 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 10.659286488248352,
+    "type": "CONVEYOR8 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 10.659286488248352,
+    "type": "CONVEYOR_INPUT_SUBASSEMBLY_C CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 10.659286488248352,
+    "type": "CONVEYOR9 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 10.659286488248352,
+    "type": "CONVEYOR10 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 10.659286488248352,
+    "type": "CONVEYOR11 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 10.963143247609622,
+    "type": "CRANE_INPUT_SUBASSEMBLY_A BACKWARD"
+  },
+  {
+    "timestamp": 11,
+    "type": "MANUAL_ADD_COMPONENTS3 OK"
+  },
+  {
+    "timestamp": 11.963143247609622,
+    "type": "BOWL2 GIVEN"
+  },
+  {
+    "timestamp": 11.973670143379714,
+    "type": "BOWL3 GIVEN"
+  },
+  {
+    "timestamp": 11.973670143379714,
+    "type": "BOWL4 GIVEN"
+  },
+  {
+    "timestamp": 12.193524662115534,
+    "type": "Crane1 FORWARD"
+  },
+  {
+    "timestamp": 12.193524662115534,
+    "type": "CONVEYOR1 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 12.193524662115534,
+    "type": "CONVEYOR2 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 12.193524662115534,
+    "type": "CONVEYOR3 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 12.193524662115534,
+    "type": "CRANE_INPUT_SUBASSEMBLY_A FORWARD"
+  },
+  {
+    "timestamp": 12.193524662115534,
+    "type": "CONVEYOR4 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 12.193524662115534,
+    "type": "CONVEYOR_INPUT_SUBASSEMBLY_B CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 12.193524662115534,
+    "type": "CONVEYOR5 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 12.193524662115534,
+    "type": "CONVEYOR6 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 12.193524662115534,
+    "type": "CONVEYOR7 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 12.193524662115534,
+    "type": "CONVEYOR8 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 12.193524662115534,
+    "type": "CONVEYOR_INPUT_SUBASSEMBLY_C CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 12.193524662115534,
+    "type": "CONVEYOR9 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 12.193524662115534,
+    "type": "CONVEYOR10 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 12.193524662115534,
+    "type": "CONVEYOR11 CONVEYOR_GATE"
+  },
+  {
+    "timestamp": 12.198876131329659,
+    "type": "BOWL2 GIVEN"
+  },
+  {
+    "timestamp": 12.963143247609622,
+    "type": "MANUAL_ADD_COMPONENTS3 OK"
+  },
+  {
+    "timestamp": 13.198876131329659,
+    "type": "CRANE_INPUT_SUBASSEMBLY_A BACKWARD"
+  },
+  {
+    "timestamp": 13.585179697766009,
+    "type": "BOWL3 GIVEN"
+  },
+  {
+    "timestamp": 13.780359251935959,
+    "type": "CRANE_INPUT_SUBASSEMBLY_A BACKWARD"
+  },
+  {
+    "timestamp": 13.797793511425155,
+    "type": "Crane1 FORWARD"
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+    "timestamp": 13.797793511425155,
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+    "timestamp": 13.797793511425155,
+    "type": "CONVEYOR3 CONVEYOR_GATE"
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+    "type": "CONVEYOR5 CONVEYOR_GATE"
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+  {
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+    "type": "CONVEYOR6 CONVEYOR_GATE"
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+    "type": "CONVEYOR7 CONVEYOR_GATE"
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+    "type": "CONVEYOR8 CONVEYOR_GATE"
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+    "type": "CONVEYOR11 CONVEYOR_GATE"
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+  {
+    "timestamp": 14,
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+  },
+  {
+    "timestamp": 14.198876131329659,
+    "type": "MANUAL_ADD_COMPONENTS3 OK"
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+    "type": "BOWL4 GIVEN"
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+    "type": "CONVEYOR1 CONVEYOR_GATE"
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+    "timestamp": 15.582864272858272,
+    "type": "CONVEYOR2 CONVEYOR_GATE"
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+  {
+    "timestamp": 15.582864272858272,
+    "type": "CONVEYOR3 CONVEYOR_GATE"
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+    "timestamp": 15.582864272858272,
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+    "timestamp": 15.582864272858272,
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+    "type": "CONVEYOR7 CONVEYOR_GATE"
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+    "type": "CONVEYOR8 CONVEYOR_GATE"
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+    "timestamp": 15.582864272858272,
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+    "timestamp": 15.780359251935959,
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+    "timestamp": 16.007079101271646,
+    "type": "MANUAL_ADD_COMPONENTS3 OK"
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+  {
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+    "timestamp": 17.40925478700708,
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+    "timestamp": 17.963143247609622,
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+  {
+    "timestamp": 18.19887613132966,
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+  {
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+  {
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+  {
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+    "type": "MANUAL_TIGHTEN_BOLTS2 OK"
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+  {
+    "timestamp": 25.78035925193596,
+    "type": "MANUAL_ADD_COMPONENTS1 OK"
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+  {
+    "timestamp": 30.659286488248352,
+    "type": "MANUAL_ADD_COMPONENTS1 OK"
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+  {
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+  {
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+  {
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+    "type": "MANUAL_ADD_COMPONENTS3 OK"
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+    "type": "MANUAL_COMBINE_SUBASSEMBLY_A OK"
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+  {
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+  {
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+    "type": "Crane1 BACKWARD"
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+    "timestamp": 45.460483025621805,
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+    "timestamp": 46.659286488248355,
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+]