diff --git a/tools/sensor-mock/mqtt_random_publisher.py b/tools/sensor-mock/mqtt_random_publisher.py
index bc5de8b684200df46bd769e5beb632fb70a85235..002fa4c21a1603edb4d88209803cc7a4ad042bab 100644
--- a/tools/sensor-mock/mqtt_random_publisher.py
+++ b/tools/sensor-mock/mqtt_random_publisher.py
@@ -5,7 +5,7 @@ import paho.mqtt.client as mqtt
# MQTT Configuration
BROKER = "test.mosquitto.org" # Replace with your broker's address
PORT = 1883
-TOPIC = "random/float"
+TOPIC = "mocksensor"
# MQTT Client Setup
client = mqtt.Client()
diff --git a/tools/timeline/.ipynb_checkpoints/timeline-real-runtime-checkpoint.ipynb b/tools/timeline/.ipynb_checkpoints/timeline-real-runtime-checkpoint.ipynb
new file mode 100644
index 0000000000000000000000000000000000000000..bf53a1ea9720a80e5842f35df0c3bf79c184c05b
--- /dev/null
+++ b/tools/timeline/.ipynb_checkpoints/timeline-real-runtime-checkpoint.ipynb
@@ -0,0 +1,784 @@
+{
+ "cells": [
+ {
+ "cell_type": "code",
+ "execution_count": 1,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "import pandas as pd\n",
+ "import matplotlib.pyplot as plt\n",
+ "import numpy as np\n",
+ "import datetime\n",
+ "\n",
+ "labelprops = dict(facecolor='white', alpha=0.8, linewidth=None,edgecolor='white', pad=1)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 2,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "def draw_brace(ax, xspan, yy, text):\n",
+ " \"\"\"Draws an annotated brace on the axes.\"\"\"\n",
+ " xmin, xmax = xspan\n",
+ " xspan = xmax - xmin\n",
+ " ax_xmin, ax_xmax = ax.get_xlim()\n",
+ " xax_span = ax_xmax - ax_xmin\n",
+ "\n",
+ " ymin, ymax = ax.get_ylim()\n",
+ " yspan = ymax - ymin\n",
+ " resolution = 601# int(xspan/xax_span*2000)*2+1 # guaranteed uneven\n",
+ " beta = 6000./xax_span # the higher this is, the smaller the radius\n",
+ "\n",
+ " \n",
+ " \n",
+ " x = np.linspace(xmin, xmax, resolution)\n",
+ " x_half = x[:int(resolution/2)+1]\n",
+ " y_half_brace = (1/(1.+np.exp(-beta*(x_half-x_half[0])))\n",
+ " + 1/(1.+np.exp(-beta*(x_half-x_half[-1]))))\n",
+ " y = np.concatenate((y_half_brace, y_half_brace[-2::-1]))\n",
+ " \n",
+ " y = yy + (.05*y - .01)*yspan # adjust vertical position\n",
+ "\n",
+ " ax.autoscale(False)\n",
+ " ax.plot(x, y, color='black', lw=1)\n",
+ "\n",
+ " if text:\n",
+ " ax.text((xmax+xmin)/2., yy+.07*yspan, text, ha='center', va='bottom', bbox=labelprops)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 37,
+ "metadata": {},
+ "outputs": [
+ {
+ "name": "stdout",
+ "output_type": "stream",
+ "text": [
+ "[9.167999982833862, 9.29699993133545, 9.428999900817871, 18.098999977111816, 18.43999981880188, 18.782999992370605, 26.736999988555908, 27.003999948501587, 38.21399998664856, 38.36699986457825, 38.3989999294281, 38.46000003814697, 38.519999980926514, 38.6949999332428, 38.88499999046326]\n",
+ "[-3.5, -4.3, -5.1, -3.5, -4.3, -5.1, -3.5, -4.3, -3.5, -4.3, -5.1, -5.9, -6.7, -7.5, -8.3]\n"
+ ]
+ },
+ {
+ "data": {
+ "image/png": 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+ "text/plain": [
+ "<Figure size 12000x800 with 1 Axes>"
+ ]
+ },
+ "metadata": {},
+ "output_type": "display_data"
+ },
+ {
+ "name": "stdout",
+ "output_type": "stream",
+ "text": [
+ " Signal Count\n",
+ "0 Green 1\n",
+ "1 PickSuccess 1\n",
+ "2 PlaceSuccess 1\n",
+ "3 Sensor 1\n",
+ "Transitionen: 46\n",
+ "Events: 4\n",
+ "Sonstige: 42\n",
+ "\n"
+ ]
+ },
+ {
+ "data": {
+ "text/html": [
+ "<div>\n",
+ "<style scoped>\n",
+ " .dataframe tbody tr th:only-of-type {\n",
+ " vertical-align: middle;\n",
+ " }\n",
+ "\n",
+ " .dataframe tbody tr th {\n",
+ " vertical-align: top;\n",
+ " }\n",
+ "\n",
+ " .dataframe thead th {\n",
+ " text-align: right;\n",
+ " }\n",
+ "</style>\n",
+ "<table border=\"1\" class=\"dataframe\">\n",
+ " <thead>\n",
+ " <tr style=\"text-align: right;\">\n",
+ " <th></th>\n",
+ " <th>Time</th>\n",
+ " <th>Type</th>\n",
+ " <th>Node</th>\n",
+ " <th>Arguments</th>\n",
+ " </tr>\n",
+ " </thead>\n",
+ " <tbody>\n",
+ " <tr>\n",
+ " <th>0</th>\n",
+ " <td>0.000</td>\n",
+ " <td>signalChanged</td>\n",
+ " <td>SensorNode</td>\n",
+ " <td>Sensor true</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>1</th>\n",
+ " <td>9.138</td>\n",
+ " <td>serviceClientSend</td>\n",
+ " <td>ExecutorNode</td>\n",
+ " <td>sensorService-SensorCall</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>2</th>\n",
+ " <td>9.156</td>\n",
+ " <td>serviceServerReceive</td>\n",
+ " <td>SensorNode</td>\n",
+ " <td>sensorService SensorIn-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>3</th>\n",
+ " <td>9.168</td>\n",
+ " <td>transitionFired</td>\n",
+ " <td>SensorNode</td>\n",
+ " <td>GetSensorData-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>4</th>\n",
+ " <td>9.297</td>\n",
+ " <td>transitionFired</td>\n",
+ " <td>SensorNode</td>\n",
+ " <td>ProcessSensorData-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>5</th>\n",
+ " <td>9.337</td>\n",
+ " <td>serviceServerSend</td>\n",
+ " <td>SensorNode</td>\n",
+ " <td>sensorService SensorOut-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>6</th>\n",
+ " <td>9.429</td>\n",
+ " <td>transitionFired</td>\n",
+ " <td>ExecutorNode</td>\n",
+ " <td>TransitionSafe</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>7</th>\n",
+ " <td>9.493</td>\n",
+ " <td>serviceClientReceive</td>\n",
+ " <td>ExecutorNode</td>\n",
+ " <td>sensorService SensorResponse</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>8</th>\n",
+ " <td>18.093</td>\n",
+ " <td>signalChanged</td>\n",
+ " <td>SelectorNode</td>\n",
+ " <td>Green true</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>9</th>\n",
+ " <td>18.099</td>\n",
+ " <td>transitionFired</td>\n",
+ " <td>SelectorNode</td>\n",
+ " <td>SortGreen</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>10</th>\n",
+ " <td>18.205</td>\n",
+ " <td>topicSend</td>\n",
+ " <td>SelectorNode</td>\n",
+ " <td>RightCellTopic GreenOut</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>11</th>\n",
+ " <td>18.247</td>\n",
+ " <td>topicReceive</td>\n",
+ " <td>RightControllerNode</td>\n",
+ " <td>RightCellTopic R-AwaitingControl</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>12</th>\n",
+ " <td>18.336</td>\n",
+ " <td>serviceClientSend</td>\n",
+ " <td>RightControllerNode</td>\n",
+ " <td>getControlService-R-AwaitingControl</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>13</th>\n",
+ " <td>18.396</td>\n",
+ " <td>serviceServerReceive</td>\n",
+ " <td>SynchronizerNode</td>\n",
+ " <td>getControlService GetControlIn-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>14</th>\n",
+ " <td>18.440</td>\n",
+ " <td>transitionFired</td>\n",
+ " <td>SynchronizerNode</td>\n",
+ " <td>Get-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>15</th>\n",
+ " <td>18.597</td>\n",
+ " <td>serviceServerSend</td>\n",
+ " <td>SynchronizerNode</td>\n",
+ " <td>getControlService GetControlOut-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>16</th>\n",
+ " <td>18.713</td>\n",
+ " <td>serviceClientSend</td>\n",
+ " <td>RightControllerNode</td>\n",
+ " <td>pickService-R-Ready</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>17</th>\n",
+ " <td>18.736</td>\n",
+ " <td>serviceClientReceive</td>\n",
+ " <td>RightControllerNode</td>\n",
+ " <td>getControlService R-Ready</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>18</th>\n",
+ " <td>18.736</td>\n",
+ " <td>serviceServerReceive</td>\n",
+ " <td>ExecutorNode</td>\n",
+ " <td>pickService PickInput-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>19</th>\n",
+ " <td>18.783</td>\n",
+ " <td>transitionFired</td>\n",
+ " <td>ExecutorNode</td>\n",
+ " <td>Pick-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>20</th>\n",
+ " <td>26.725</td>\n",
+ " <td>signalChanged</td>\n",
+ " <td>ExecutorNode</td>\n",
+ " <td>PickSuccess true</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>21</th>\n",
+ " <td>26.737</td>\n",
+ " <td>transitionFired</td>\n",
+ " <td>ExecutorNode</td>\n",
+ " <td>PickingSuccess-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>22</th>\n",
+ " <td>26.785</td>\n",
+ " <td>serviceServerSend</td>\n",
+ " <td>ExecutorNode</td>\n",
+ " <td>pickService PickOutput-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>23</th>\n",
+ " <td>26.908</td>\n",
+ " <td>serviceClientSend</td>\n",
+ " <td>RightControllerNode</td>\n",
+ " <td>placeService-R-ObjectPicked</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>24</th>\n",
+ " <td>26.928</td>\n",
+ " <td>serviceClientReceive</td>\n",
+ " <td>RightControllerNode</td>\n",
+ " <td>pickService R-ObjectPicked</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>25</th>\n",
+ " <td>26.964</td>\n",
+ " <td>serviceServerReceive</td>\n",
+ " <td>ExecutorNode</td>\n",
+ " <td>placeService PlaceInput-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>26</th>\n",
+ " <td>27.004</td>\n",
+ " <td>transitionFired</td>\n",
+ " <td>ExecutorNode</td>\n",
+ " <td>Place-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>27</th>\n",
+ " <td>38.210</td>\n",
+ " <td>signalChanged</td>\n",
+ " <td>ExecutorNode</td>\n",
+ " <td>PlaceSuccess true</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>28</th>\n",
+ " <td>38.214</td>\n",
+ " <td>transitionFired</td>\n",
+ " <td>ExecutorNode</td>\n",
+ " <td>SafeToSensorCall</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>29</th>\n",
+ " <td>38.311</td>\n",
+ " <td>serviceClientSend</td>\n",
+ " <td>ExecutorNode</td>\n",
+ " <td>sensorService-SensorCall</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>30</th>\n",
+ " <td>38.318</td>\n",
+ " <td>serviceServerReceive</td>\n",
+ " <td>SensorNode</td>\n",
+ " <td>sensorService SensorIn-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>31</th>\n",
+ " <td>38.367</td>\n",
+ " <td>transitionFired</td>\n",
+ " <td>SensorNode</td>\n",
+ " <td>GetSensorData-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>32</th>\n",
+ " <td>38.399</td>\n",
+ " <td>transitionFired</td>\n",
+ " <td>SensorNode</td>\n",
+ " <td>ProcessSensorData-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>33</th>\n",
+ " <td>38.414</td>\n",
+ " <td>serviceServerSend</td>\n",
+ " <td>SensorNode</td>\n",
+ " <td>sensorService SensorOut-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>34</th>\n",
+ " <td>38.460</td>\n",
+ " <td>transitionFired</td>\n",
+ " <td>ExecutorNode</td>\n",
+ " <td>TransitionSafe</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>35</th>\n",
+ " <td>38.520</td>\n",
+ " <td>transitionFired</td>\n",
+ " <td>ExecutorNode</td>\n",
+ " <td>PlacingSuccess-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>36</th>\n",
+ " <td>38.555</td>\n",
+ " <td>serviceClientReceive</td>\n",
+ " <td>ExecutorNode</td>\n",
+ " <td>sensorService SensorResponse</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>37</th>\n",
+ " <td>38.566</td>\n",
+ " <td>serviceServerSend</td>\n",
+ " <td>ExecutorNode</td>\n",
+ " <td>placeService PlaceOutput-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>38</th>\n",
+ " <td>38.656</td>\n",
+ " <td>serviceClientSend</td>\n",
+ " <td>RightControllerNode</td>\n",
+ " <td>endControlService-R-ObjectPlaced</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>39</th>\n",
+ " <td>38.658</td>\n",
+ " <td>serviceClientReceive</td>\n",
+ " <td>RightControllerNode</td>\n",
+ " <td>placeService R-ObjectPlaced</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>40</th>\n",
+ " <td>38.664</td>\n",
+ " <td>serviceServerReceive</td>\n",
+ " <td>SynchronizerNode</td>\n",
+ " <td>endControlService EndControlIn-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>41</th>\n",
+ " <td>38.695</td>\n",
+ " <td>transitionFired</td>\n",
+ " <td>SynchronizerNode</td>\n",
+ " <td>End-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>42</th>\n",
+ " <td>38.698</td>\n",
+ " <td>serviceServerSend</td>\n",
+ " <td>SynchronizerNode</td>\n",
+ " <td>endControlService EndControlOut-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>43</th>\n",
+ " <td>38.749</td>\n",
+ " <td>topicSend</td>\n",
+ " <td>RightControllerNode</td>\n",
+ " <td>UITopic R-Done</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>44</th>\n",
+ " <td>38.752</td>\n",
+ " <td>serviceClientReceive</td>\n",
+ " <td>RightControllerNode</td>\n",
+ " <td>endControlService R-Done</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>45</th>\n",
+ " <td>38.846</td>\n",
+ " <td>topicReceive</td>\n",
+ " <td>FeedbackNode</td>\n",
+ " <td>UITopic FeedbackIn</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>46</th>\n",
+ " <td>38.885</td>\n",
+ " <td>transitionFired</td>\n",
+ " <td>FeedbackNode</td>\n",
+ " <td>ShowFeedback</td>\n",
+ " </tr>\n",
+ " </tbody>\n",
+ "</table>\n",
+ "</div>"
+ ],
+ "text/plain": [
+ " Time Type Node \\\n",
+ "0 0.000 signalChanged SensorNode \n",
+ "1 9.138 serviceClientSend ExecutorNode \n",
+ "2 9.156 serviceServerReceive SensorNode \n",
+ "3 9.168 transitionFired SensorNode \n",
+ "4 9.297 transitionFired SensorNode \n",
+ "5 9.337 serviceServerSend SensorNode \n",
+ "6 9.429 transitionFired ExecutorNode \n",
+ "7 9.493 serviceClientReceive ExecutorNode \n",
+ "8 18.093 signalChanged SelectorNode \n",
+ "9 18.099 transitionFired SelectorNode \n",
+ "10 18.205 topicSend SelectorNode \n",
+ "11 18.247 topicReceive RightControllerNode \n",
+ "12 18.336 serviceClientSend RightControllerNode \n",
+ "13 18.396 serviceServerReceive SynchronizerNode \n",
+ "14 18.440 transitionFired SynchronizerNode \n",
+ "15 18.597 serviceServerSend SynchronizerNode \n",
+ "16 18.713 serviceClientSend RightControllerNode \n",
+ "17 18.736 serviceClientReceive RightControllerNode \n",
+ "18 18.736 serviceServerReceive ExecutorNode \n",
+ "19 18.783 transitionFired ExecutorNode \n",
+ "20 26.725 signalChanged ExecutorNode \n",
+ "21 26.737 transitionFired ExecutorNode \n",
+ "22 26.785 serviceServerSend ExecutorNode \n",
+ "23 26.908 serviceClientSend RightControllerNode \n",
+ "24 26.928 serviceClientReceive RightControllerNode \n",
+ "25 26.964 serviceServerReceive ExecutorNode \n",
+ "26 27.004 transitionFired ExecutorNode \n",
+ "27 38.210 signalChanged ExecutorNode \n",
+ "28 38.214 transitionFired ExecutorNode \n",
+ "29 38.311 serviceClientSend ExecutorNode \n",
+ "30 38.318 serviceServerReceive SensorNode \n",
+ "31 38.367 transitionFired SensorNode \n",
+ "32 38.399 transitionFired SensorNode \n",
+ "33 38.414 serviceServerSend SensorNode \n",
+ "34 38.460 transitionFired ExecutorNode \n",
+ "35 38.520 transitionFired ExecutorNode \n",
+ "36 38.555 serviceClientReceive ExecutorNode \n",
+ "37 38.566 serviceServerSend ExecutorNode \n",
+ "38 38.656 serviceClientSend RightControllerNode \n",
+ "39 38.658 serviceClientReceive RightControllerNode \n",
+ "40 38.664 serviceServerReceive SynchronizerNode \n",
+ "41 38.695 transitionFired SynchronizerNode \n",
+ "42 38.698 serviceServerSend SynchronizerNode \n",
+ "43 38.749 topicSend RightControllerNode \n",
+ "44 38.752 serviceClientReceive RightControllerNode \n",
+ "45 38.846 topicReceive FeedbackNode \n",
+ "46 38.885 transitionFired FeedbackNode \n",
+ "\n",
+ " Arguments \n",
+ "0 Sensor true \n",
+ "1 sensorService-SensorCall \n",
+ "2 sensorService SensorIn-INSTANCE-0 \n",
+ "3 GetSensorData-INSTANCE-0 \n",
+ "4 ProcessSensorData-INSTANCE-0 \n",
+ "5 sensorService SensorOut-INSTANCE-0 \n",
+ "6 TransitionSafe \n",
+ "7 sensorService SensorResponse \n",
+ "8 Green true \n",
+ "9 SortGreen \n",
+ "10 RightCellTopic GreenOut \n",
+ "11 RightCellTopic R-AwaitingControl \n",
+ "12 getControlService-R-AwaitingControl \n",
+ "13 getControlService GetControlIn-INSTANCE-0 \n",
+ "14 Get-INSTANCE-0 \n",
+ "15 getControlService GetControlOut-INSTANCE-0 \n",
+ "16 pickService-R-Ready \n",
+ "17 getControlService R-Ready \n",
+ "18 pickService PickInput-INSTANCE-0 \n",
+ "19 Pick-INSTANCE-0 \n",
+ "20 PickSuccess true \n",
+ "21 PickingSuccess-INSTANCE-0 \n",
+ "22 pickService PickOutput-INSTANCE-0 \n",
+ "23 placeService-R-ObjectPicked \n",
+ "24 pickService R-ObjectPicked \n",
+ "25 placeService PlaceInput-INSTANCE-0 \n",
+ "26 Place-INSTANCE-0 \n",
+ "27 PlaceSuccess true \n",
+ "28 SafeToSensorCall \n",
+ "29 sensorService-SensorCall \n",
+ "30 sensorService SensorIn-INSTANCE-0 \n",
+ "31 GetSensorData-INSTANCE-0 \n",
+ "32 ProcessSensorData-INSTANCE-0 \n",
+ "33 sensorService SensorOut-INSTANCE-0 \n",
+ "34 TransitionSafe \n",
+ "35 PlacingSuccess-INSTANCE-0 \n",
+ "36 sensorService SensorResponse \n",
+ "37 placeService PlaceOutput-INSTANCE-0 \n",
+ "38 endControlService-R-ObjectPlaced \n",
+ "39 placeService R-ObjectPlaced \n",
+ "40 endControlService EndControlIn-INSTANCE-0 \n",
+ "41 End-INSTANCE-0 \n",
+ "42 endControlService EndControlOut-INSTANCE-0 \n",
+ "43 UITopic R-Done \n",
+ "44 endControlService R-Done \n",
+ "45 UITopic FeedbackIn \n",
+ "46 ShowFeedback "
+ ]
+ },
+ "execution_count": 37,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "tracefile = 'first-real-trace.txt'\n",
+ "with open(tracefile) as f:\n",
+ " data = list(map(lambda d: tuple(d.split(' ', 3)), f.read().strip().split('\\n')))\n",
+ "\n",
+ "beginning_time = int(data[0][0])/1e3\n",
+ "time_duration = int(data[-1][0])/1e3 - beginning_time\n",
+ "data = [(int(d[0])/1e3 - beginning_time,d[1],d[2],d[3]) for d in data]\n",
+ "\n",
+ "# signal change events\n",
+ "events = []\n",
+ "for (ts,type,node,args) in data:\n",
+ " if (type == 'signalChanged'):\n",
+ " signal,value = args.split(' ',1)\n",
+ " value = int(value == 'true') # Convert to int (0 or 1)\n",
+ " events += [(ts,signal,value)]\n",
+ "\n",
+ "# topic events\n",
+ "channel_times = []\n",
+ "channel_names = []\n",
+ "for (ts,type,node,args) in data:\n",
+ " if (type == 'topicReceive'):\n",
+ " signal, value = args.split(' ',1)\n",
+ " channel_times += [ts]\n",
+ " channel_names += [signal]\n",
+ "\n",
+ "# transition callback events\n",
+ "callback_times = []\n",
+ "callback_names = []\n",
+ "for (ts,type,node,args) in data:\n",
+ " if (type == 'transitionFired'):\n",
+ " callback_times += [ts]\n",
+ " if '-INSTANCE-' in args:\n",
+ " args = args.replace('-INSTANCE-','[') + ']'\n",
+ " callback_names += [args]\n",
+ "\n",
+ "# service call events\n",
+ "service_times = []\n",
+ "service_labels = []\n",
+ "service_names = []\n",
+ "service_instances = []\n",
+ "service_isEntries = []\n",
+ "current_calls = {}\n",
+ "calls = []\n",
+ "for (ts,type,node,args) in data:\n",
+ " if (type.startswith('serviceServer')):\n",
+ " service_times += [ts]\n",
+ " service,name = args.split(' ', 1)\n",
+ " _,_,instance = name.split('-',2)\n",
+ " service_names += [service]\n",
+ " service_instances += [instance]\n",
+ " isEntry = type == 'serviceServerReceive'\n",
+ " service_isEntries += [isEntry]\n",
+ " c_or_r = 'CALL' if isEntry else 'RETURN'\n",
+ " service_labels += [f\"{c_or_r} {service} (Instance {instance})\"]\n",
+ " if isEntry:\n",
+ " current_calls[(service,instance)] = ts\n",
+ " else:\n",
+ " calls += [(service,instance,current_calls[(service,instance)],ts)]\n",
+ "\n",
+ "# Create separate plots for each input signal\n",
+ "unique_signals = list(set(signal for _, signal, _ in events))\n",
+ "# hard code order and color\n",
+ "unique_signals = ['Green', 'Blue', 'Red', 'Sensor', 'PlaceSuccess', 'PickSuccess', 'Stop']\n",
+ "colors = {'Stop': 'tab:olive', 'PickSuccess': 'tab:orange', 'Green': 'tab:green', 'Red': 'tab:red',\n",
+ " 'PlaceSuccess': 'tab:brown', 'Blue': '#8c564b', 'Sensor': 'tab:olive',\n",
+ " 'Stop': 'tab:purple'}\n",
+ "\n",
+ "fig, ax = plt.subplots(constrained_layout=True,figsize=(120, 8))\n",
+ "\n",
+ "for signal in unique_signals:\n",
+ " signal_events = [(step, value) for step, s, value in events if s == signal]\n",
+ " signal_events.insert(0, (0, 0)) # every signal starts off\n",
+ " signal_events.append((len(data), signal_events[-1][1])) # and it ends with the value of the last change\n",
+ " steps, values = map(list, (zip(*signal_events)))\n",
+ " values = list(map(lambda x: x*(unique_signals.index(signal) + 1), values))\n",
+ " plt.step(steps, values, where='post', color=colors[signal])\n",
+ "\n",
+ "plt.xlabel('Time')\n",
+ "x1 = list(range(1, len(unique_signals) + 1))[:-1]\n",
+ "labels = unique_signals[:-1]\n",
+ "\n",
+ "topicheight = -1.3\n",
+ "\n",
+ "ax.vlines(channel_times, 0, topicheight, color=\"tab:grey\") # The vertical stems.\n",
+ "ax.plot(channel_times, np.zeros_like(channel_times), \"o\", color=\"k\", markerfacecolor=\"w\") # Baseline and markers on it.\n",
+ "\n",
+ "# annotate lines\n",
+ "for d, r, i in zip(channel_times, channel_names, range(len(channel_names))):\n",
+ " ax.annotate(r, xy=(d, topicheight),\n",
+ " xytext=(0, 0), textcoords=\"offset points\",\n",
+ " horizontalalignment=\"center\",\n",
+ " verticalalignment=\"top\",bbox=labelprops)\n",
+ "\n",
+ "callbackheight = -3.5\n",
+ "callbackheights = []\n",
+ "current_indent = 0\n",
+ "i_max = 10\n",
+ "max_period = 5 # s\n",
+ "for i in range(len(callback_times)):\n",
+ " if i == 0 or current_indent == i_max or (callback_times[i] - callback_times[i-1] > max_period):\n",
+ " current_indent = 0\n",
+ " else:\n",
+ " current_indent += 1\n",
+ " callbackheights += [callbackheight - current_indent*.8]\n",
+ "\n",
+ "print(callback_times)\n",
+ "print(callbackheights)\n",
+ "\n",
+ "ax.vlines(callback_times, 0, callbackheights, color=\"tab:grey\") # The vertical stems.\n",
+ "ax.plot(callback_times, np.zeros_like(callback_times), \"o\", color=\"k\", markerfacecolor=\"w\") # Baseline and markers on it.\n",
+ "\n",
+ "for d, r, i in zip(callback_times, callback_names, range(len(callback_names))):\n",
+ " ax.annotate(r, xy=(d, callbackheights[i]),\n",
+ " xytext=(0,0), textcoords=\"offset points\",\n",
+ " horizontalalignment=\"center\",\n",
+ " verticalalignment=\"top\",bbox=labelprops)\n",
+ "\n",
+ "baseserviceheight = 9.5\n",
+ "serviceheight = 9.5\n",
+ "\n",
+ "ki = 1\n",
+ "previous_start = 0\n",
+ "previous_end = 0\n",
+ "for (signal,instance,start,end) in calls: \n",
+ " if signal == \"Sensor\":\n",
+ " ax.vlines([start,end], 0, 8, color=\"tab:gray\") # The vertical stems.\n",
+ " ax.plot([start,end], [0,0], \"o\", color=\"k\", markerfacecolor=\"w\") # Baseline and markers on it.\n",
+ " draw_brace(ax, (start, end), 8, f'{signal}[{instance}]')\n",
+ " continue\n",
+ " elif start < previous_end:\n",
+ " serviceheight+=1.5\n",
+ " current_serviceheight = serviceheight\n",
+ " elif start > previous_end:\n",
+ " current_serviceheight = baseserviceheight\n",
+ " elif end > previous_end:\n",
+ " current_serviceheight = serviceheight\n",
+ " else:\n",
+ " pass\n",
+ " ax.vlines([start,end], 0, current_serviceheight, color=\"tab:gray\") # The vertical stems.\n",
+ " ax.plot([start,end], [0,0], \"o\", color=\"k\", markerfacecolor=\"w\") # Baseline and markers on it.\n",
+ "\n",
+ " draw_brace(ax, (start, end), current_serviceheight, f'{signal}[{instance}]')\n",
+ "\n",
+ " previous_start = start\n",
+ " previous_end = end\n",
+ " ki += 1\n",
+ "\n",
+ "for signal in unique_signals:\n",
+ " signal_events = [(step, value) for step, s, value in events if s == signal]\n",
+ " signal_events.insert(0, (0, 0)) # every signal starts off\n",
+ " signal_events.append((len(data), signal_events[-1][1])) # and it ends with the value of the last change\n",
+ " steps, values = map(list, (zip(*signal_events)))\n",
+ " values = list(map(lambda x: x*(unique_signals.index(signal) + 1), values))\n",
+ " plt.step(steps, values, where='post', color=colors[signal])\n",
+ "\n",
+ "plt.yticks(x1, labels)\n",
+ "plt.xlim(data[0][0] - 0.01*time_duration, data[-1][0] + 0.05*time_duration)\n",
+ "\n",
+ "ax.text(-3,3,\"Input Signals\",rotation='vertical')\n",
+ "ax.text(-3,11,\"Service Calls\",rotation='vertical')\n",
+ "ax.text(-0.8,-2,\"Topics\",rotation='vertical')\n",
+ "ax.text(-1.5,-6,\"Transitions\\nwith\\nHandlers\",rotation='vertical',ma='center')\n",
+ "\n",
+ "plt.step([data[0][0] - 0.01*time_duration, data[-1][0] + 0.05*time_duration], [0,0], where='post', color='black')\n",
+ "\n",
+ "plt.ylim(-9, serviceheight + 4)\n",
+ "plt.savefig(\"timeline-real-runtime.pdf\")\n",
+ "plt.show()\n",
+ "\n",
+ "# Create a table showing how often each signal name appears\n",
+ "signal_counts = pd.DataFrame(events, columns=['Step', 'Signal', 'Value']).groupby('Signal').size().reset_index(name='Count')\n",
+ "print(signal_counts)\n",
+ "\n",
+ "print(\"Transitionen: {}\".format(len(data) - 1))\n",
+ "print(\"Events: {}\".format(len(events)))\n",
+ "print(\"Sonstige: {}\\n\".format(len(data)-len(events) - 1))\n",
+ "\n",
+ "# Convert the 'data' list to a Pandas DataFrame and print it\n",
+ "data_df = pd.DataFrame(data, columns=['Time','Type', 'Node', 'Arguments'])\n",
+ "pd.set_option('display.max_rows', None)\n",
+ "pd.set_option('display.max_columns', None)\n",
+ "data_df"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ }
+ ],
+ "metadata": {
+ "kernelspec": {
+ "display_name": "Python 3 (ipykernel)",
+ "language": "python",
+ "name": "python3"
+ },
+ "language_info": {
+ "codemirror_mode": {
+ "name": "ipython",
+ "version": 3
+ },
+ "file_extension": ".py",
+ "mimetype": "text/x-python",
+ "name": "python",
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diff --git a/tools/timeline/.ipynb_checkpoints/timeline-real-runtime-checkpoint.pdf b/tools/timeline/.ipynb_checkpoints/timeline-real-runtime-checkpoint.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..0f2739b760ca5ceaaea58a5c8deabda2fa7a6ffe
Binary files /dev/null and b/tools/timeline/.ipynb_checkpoints/timeline-real-runtime-checkpoint.pdf differ
diff --git a/tools/timeline/.ipynb_checkpoints/trace-checkpoint.txt b/tools/timeline/.ipynb_checkpoints/trace-checkpoint.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c6840f3a39c79a9d7b481c78a02dffd2b81d025c
--- /dev/null
+++ b/tools/timeline/.ipynb_checkpoints/trace-checkpoint.txt
@@ -0,0 +1,47 @@
+1709654536226 signalChanged SensorNode Sensor true
+1709654545364 serviceClientSend ExecutorNode sensorService-SensorCall
+1709654545382 serviceServerReceive SensorNode sensorService SensorIn-INSTANCE-0
+1709654545394 transitionFired SensorNode GetSensorData-INSTANCE-0
+1709654545523 transitionFired SensorNode ProcessSensorData-INSTANCE-0
+1709654545563 serviceServerSend SensorNode sensorService SensorOut-INSTANCE-0
+1709654545655 transitionFired ExecutorNode TransitionSafe
+1709654545719 serviceClientReceive ExecutorNode sensorService SensorResponse
+1709654554319 signalChanged SelectorNode Green true
+1709654554325 transitionFired SelectorNode SortGreen
+1709654554431 topicSend SelectorNode RightCellTopic GreenOut
+1709654554473 topicReceive RightControllerNode RightCellTopic R-AwaitingControl
+1709654554562 serviceClientSend RightControllerNode getControlService-R-AwaitingControl
+1709654554622 serviceServerReceive SynchronizerNode getControlService GetControlIn-INSTANCE-0
+1709654554666 transitionFired SynchronizerNode Get-INSTANCE-0
+1709654554823 serviceServerSend SynchronizerNode getControlService GetControlOut-INSTANCE-0
+1709654554939 serviceClientSend RightControllerNode pickService-R-Ready
+1709654554962 serviceClientReceive RightControllerNode getControlService R-Ready
+1709654554962 serviceServerReceive ExecutorNode pickService PickInput-INSTANCE-0
+1709654555009 transitionFired ExecutorNode Pick-INSTANCE-0
+1709654562951 signalChanged ExecutorNode PickSuccess true
+1709654562963 transitionFired ExecutorNode PickingSuccess-INSTANCE-0
+1709654563011 serviceServerSend ExecutorNode pickService PickOutput-INSTANCE-0
+1709654563134 serviceClientSend RightControllerNode placeService-R-ObjectPicked
+1709654563154 serviceClientReceive RightControllerNode pickService R-ObjectPicked
+1709654563190 serviceServerReceive ExecutorNode placeService PlaceInput-INSTANCE-0
+1709654563230 transitionFired ExecutorNode Place-INSTANCE-0
+1709654574436 signalChanged ExecutorNode PlaceSuccess true
+1709654574440 transitionFired ExecutorNode SafeToSensorCall
+1709654574537 serviceClientSend ExecutorNode sensorService-SensorCall
+1709654574544 serviceServerReceive SensorNode sensorService SensorIn-INSTANCE-0
+1709654574593 transitionFired SensorNode GetSensorData-INSTANCE-0
+1709654574625 transitionFired SensorNode ProcessSensorData-INSTANCE-0
+1709654574640 serviceServerSend SensorNode sensorService SensorOut-INSTANCE-0
+1709654574686 transitionFired ExecutorNode TransitionSafe
+1709654574746 transitionFired ExecutorNode PlacingSuccess-INSTANCE-0
+1709654574781 serviceClientReceive ExecutorNode sensorService SensorResponse
+1709654574792 serviceServerSend ExecutorNode placeService PlaceOutput-INSTANCE-0
+1709654574882 serviceClientSend RightControllerNode endControlService-R-ObjectPlaced
+1709654574884 serviceClientReceive RightControllerNode placeService R-ObjectPlaced
+1709654574890 serviceServerReceive SynchronizerNode endControlService EndControlIn-INSTANCE-0
+1709654574921 transitionFired SynchronizerNode End-INSTANCE-0
+1709654574924 serviceServerSend SynchronizerNode endControlService EndControlOut-INSTANCE-0
+1709654574975 topicSend RightControllerNode UITopic R-Done
+1709654574978 serviceClientReceive RightControllerNode endControlService R-Done
+1709654575072 topicReceive FeedbackNode UITopic FeedbackIn
+1709654575111 transitionFired FeedbackNode ShowFeedback
diff --git a/tools/timeline/timeline-real-runtime.ipynb b/tools/timeline/timeline-real-runtime.ipynb
new file mode 100644
index 0000000000000000000000000000000000000000..ef3bde610283f030eac674fb0c068ebe2fe26476
--- /dev/null
+++ b/tools/timeline/timeline-real-runtime.ipynb
@@ -0,0 +1,764 @@
+{
+ "cells": [
+ {
+ "cell_type": "code",
+ "execution_count": 1,
+ "metadata": {},
+ "outputs": [
+ {
+ "name": "stderr",
+ "output_type": "stream",
+ "text": [
+ "/home/sebastian/.local/lib/python3.10/site-packages/matplotlib/projections/__init__.py:63: UserWarning: Unable to import Axes3D. This may be due to multiple versions of Matplotlib being installed (e.g. as a system package and as a pip package). As a result, the 3D projection is not available.\n",
+ " warnings.warn(\"Unable to import Axes3D. This may be due to multiple versions of \"\n"
+ ]
+ },
+ {
+ "name": "stdout",
+ "output_type": "stream",
+ "text": [
+ "[9.167999982833862, 9.29699993133545, 9.428999900817871, 18.098999977111816, 18.43999981880188, 18.782999992370605, 26.736999988555908, 27.003999948501587, 38.21399998664856, 38.36699986457825, 38.3989999294281, 38.46000003814697, 38.519999980926514, 38.6949999332428, 38.88499999046326]\n",
+ "[-3.5, -4.3, -5.1, -3.5, -4.3, -5.1, -3.5, -4.3, -3.5, -4.3, -5.1, -5.9, -6.7, -7.5, -8.3]\n"
+ ]
+ },
+ {
+ "data": {
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+ "text/plain": [
+ "<Figure size 12000x800 with 1 Axes>"
+ ]
+ },
+ "metadata": {},
+ "output_type": "display_data"
+ },
+ {
+ "name": "stdout",
+ "output_type": "stream",
+ "text": [
+ " Signal Count\n",
+ "0 Green 1\n",
+ "1 PickSuccess 1\n",
+ "2 PlaceSuccess 1\n",
+ "3 Sensor 1\n",
+ "Transitionen: 46\n",
+ "Events: 4\n",
+ "Sonstige: 42\n",
+ "\n"
+ ]
+ },
+ {
+ "data": {
+ "text/html": [
+ "<div>\n",
+ "<style scoped>\n",
+ " .dataframe tbody tr th:only-of-type {\n",
+ " vertical-align: middle;\n",
+ " }\n",
+ "\n",
+ " .dataframe tbody tr th {\n",
+ " vertical-align: top;\n",
+ " }\n",
+ "\n",
+ " .dataframe thead th {\n",
+ " text-align: right;\n",
+ " }\n",
+ "</style>\n",
+ "<table border=\"1\" class=\"dataframe\">\n",
+ " <thead>\n",
+ " <tr style=\"text-align: right;\">\n",
+ " <th></th>\n",
+ " <th>Time</th>\n",
+ " <th>Type</th>\n",
+ " <th>Node</th>\n",
+ " <th>Arguments</th>\n",
+ " </tr>\n",
+ " </thead>\n",
+ " <tbody>\n",
+ " <tr>\n",
+ " <th>0</th>\n",
+ " <td>0.000</td>\n",
+ " <td>signalChanged</td>\n",
+ " <td>SensorNode</td>\n",
+ " <td>Sensor true</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>1</th>\n",
+ " <td>9.138</td>\n",
+ " <td>serviceClientSend</td>\n",
+ " <td>ExecutorNode</td>\n",
+ " <td>sensorService-SensorCall</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>2</th>\n",
+ " <td>9.156</td>\n",
+ " <td>serviceServerReceive</td>\n",
+ " <td>SensorNode</td>\n",
+ " <td>sensorService SensorIn-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>3</th>\n",
+ " <td>9.168</td>\n",
+ " <td>transitionFired</td>\n",
+ " <td>SensorNode</td>\n",
+ " <td>GetSensorData-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>4</th>\n",
+ " <td>9.297</td>\n",
+ " <td>transitionFired</td>\n",
+ " <td>SensorNode</td>\n",
+ " <td>ProcessSensorData-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>5</th>\n",
+ " <td>9.337</td>\n",
+ " <td>serviceServerSend</td>\n",
+ " <td>SensorNode</td>\n",
+ " <td>sensorService SensorOut-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>6</th>\n",
+ " <td>9.429</td>\n",
+ " <td>transitionFired</td>\n",
+ " <td>ExecutorNode</td>\n",
+ " <td>TransitionSafe</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>7</th>\n",
+ " <td>9.493</td>\n",
+ " <td>serviceClientReceive</td>\n",
+ " <td>ExecutorNode</td>\n",
+ " <td>sensorService SensorResponse</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>8</th>\n",
+ " <td>18.093</td>\n",
+ " <td>signalChanged</td>\n",
+ " <td>SelectorNode</td>\n",
+ " <td>Green true</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>9</th>\n",
+ " <td>18.099</td>\n",
+ " <td>transitionFired</td>\n",
+ " <td>SelectorNode</td>\n",
+ " <td>SortGreen</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>10</th>\n",
+ " <td>18.205</td>\n",
+ " <td>topicSend</td>\n",
+ " <td>SelectorNode</td>\n",
+ " <td>RightCellTopic GreenOut</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>11</th>\n",
+ " <td>18.247</td>\n",
+ " <td>topicReceive</td>\n",
+ " <td>RightControllerNode</td>\n",
+ " <td>RightCellTopic R-AwaitingControl</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>12</th>\n",
+ " <td>18.336</td>\n",
+ " <td>serviceClientSend</td>\n",
+ " <td>RightControllerNode</td>\n",
+ " <td>getControlService-R-AwaitingControl</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>13</th>\n",
+ " <td>18.396</td>\n",
+ " <td>serviceServerReceive</td>\n",
+ " <td>SynchronizerNode</td>\n",
+ " <td>getControlService GetControlIn-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>14</th>\n",
+ " <td>18.440</td>\n",
+ " <td>transitionFired</td>\n",
+ " <td>SynchronizerNode</td>\n",
+ " <td>Get-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>15</th>\n",
+ " <td>18.597</td>\n",
+ " <td>serviceServerSend</td>\n",
+ " <td>SynchronizerNode</td>\n",
+ " <td>getControlService GetControlOut-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>16</th>\n",
+ " <td>18.713</td>\n",
+ " <td>serviceClientSend</td>\n",
+ " <td>RightControllerNode</td>\n",
+ " <td>pickService-R-Ready</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>17</th>\n",
+ " <td>18.736</td>\n",
+ " <td>serviceClientReceive</td>\n",
+ " <td>RightControllerNode</td>\n",
+ " <td>getControlService R-Ready</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>18</th>\n",
+ " <td>18.736</td>\n",
+ " <td>serviceServerReceive</td>\n",
+ " <td>ExecutorNode</td>\n",
+ " <td>pickService PickInput-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>19</th>\n",
+ " <td>18.783</td>\n",
+ " <td>transitionFired</td>\n",
+ " <td>ExecutorNode</td>\n",
+ " <td>Pick-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>20</th>\n",
+ " <td>26.725</td>\n",
+ " <td>signalChanged</td>\n",
+ " <td>ExecutorNode</td>\n",
+ " <td>PickSuccess true</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>21</th>\n",
+ " <td>26.737</td>\n",
+ " <td>transitionFired</td>\n",
+ " <td>ExecutorNode</td>\n",
+ " <td>PickingSuccess-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>22</th>\n",
+ " <td>26.785</td>\n",
+ " <td>serviceServerSend</td>\n",
+ " <td>ExecutorNode</td>\n",
+ " <td>pickService PickOutput-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>23</th>\n",
+ " <td>26.908</td>\n",
+ " <td>serviceClientSend</td>\n",
+ " <td>RightControllerNode</td>\n",
+ " <td>placeService-R-ObjectPicked</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>24</th>\n",
+ " <td>26.928</td>\n",
+ " <td>serviceClientReceive</td>\n",
+ " <td>RightControllerNode</td>\n",
+ " <td>pickService R-ObjectPicked</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>25</th>\n",
+ " <td>26.964</td>\n",
+ " <td>serviceServerReceive</td>\n",
+ " <td>ExecutorNode</td>\n",
+ " <td>placeService PlaceInput-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>26</th>\n",
+ " <td>27.004</td>\n",
+ " <td>transitionFired</td>\n",
+ " <td>ExecutorNode</td>\n",
+ " <td>Place-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>27</th>\n",
+ " <td>38.210</td>\n",
+ " <td>signalChanged</td>\n",
+ " <td>ExecutorNode</td>\n",
+ " <td>PlaceSuccess true</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>28</th>\n",
+ " <td>38.214</td>\n",
+ " <td>transitionFired</td>\n",
+ " <td>ExecutorNode</td>\n",
+ " <td>SafeToSensorCall</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>29</th>\n",
+ " <td>38.311</td>\n",
+ " <td>serviceClientSend</td>\n",
+ " <td>ExecutorNode</td>\n",
+ " <td>sensorService-SensorCall</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>30</th>\n",
+ " <td>38.318</td>\n",
+ " <td>serviceServerReceive</td>\n",
+ " <td>SensorNode</td>\n",
+ " <td>sensorService SensorIn-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>31</th>\n",
+ " <td>38.367</td>\n",
+ " <td>transitionFired</td>\n",
+ " <td>SensorNode</td>\n",
+ " <td>GetSensorData-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>32</th>\n",
+ " <td>38.399</td>\n",
+ " <td>transitionFired</td>\n",
+ " <td>SensorNode</td>\n",
+ " <td>ProcessSensorData-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>33</th>\n",
+ " <td>38.414</td>\n",
+ " <td>serviceServerSend</td>\n",
+ " <td>SensorNode</td>\n",
+ " <td>sensorService SensorOut-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>34</th>\n",
+ " <td>38.460</td>\n",
+ " <td>transitionFired</td>\n",
+ " <td>ExecutorNode</td>\n",
+ " <td>TransitionSafe</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>35</th>\n",
+ " <td>38.520</td>\n",
+ " <td>transitionFired</td>\n",
+ " <td>ExecutorNode</td>\n",
+ " <td>PlacingSuccess-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>36</th>\n",
+ " <td>38.555</td>\n",
+ " <td>serviceClientReceive</td>\n",
+ " <td>ExecutorNode</td>\n",
+ " <td>sensorService SensorResponse</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>37</th>\n",
+ " <td>38.566</td>\n",
+ " <td>serviceServerSend</td>\n",
+ " <td>ExecutorNode</td>\n",
+ " <td>placeService PlaceOutput-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>38</th>\n",
+ " <td>38.656</td>\n",
+ " <td>serviceClientSend</td>\n",
+ " <td>RightControllerNode</td>\n",
+ " <td>endControlService-R-ObjectPlaced</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>39</th>\n",
+ " <td>38.658</td>\n",
+ " <td>serviceClientReceive</td>\n",
+ " <td>RightControllerNode</td>\n",
+ " <td>placeService R-ObjectPlaced</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>40</th>\n",
+ " <td>38.664</td>\n",
+ " <td>serviceServerReceive</td>\n",
+ " <td>SynchronizerNode</td>\n",
+ " <td>endControlService EndControlIn-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>41</th>\n",
+ " <td>38.695</td>\n",
+ " <td>transitionFired</td>\n",
+ " <td>SynchronizerNode</td>\n",
+ " <td>End-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>42</th>\n",
+ " <td>38.698</td>\n",
+ " <td>serviceServerSend</td>\n",
+ " <td>SynchronizerNode</td>\n",
+ " <td>endControlService EndControlOut-INSTANCE-0</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>43</th>\n",
+ " <td>38.749</td>\n",
+ " <td>topicSend</td>\n",
+ " <td>RightControllerNode</td>\n",
+ " <td>UITopic R-Done</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>44</th>\n",
+ " <td>38.752</td>\n",
+ " <td>serviceClientReceive</td>\n",
+ " <td>RightControllerNode</td>\n",
+ " <td>endControlService R-Done</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>45</th>\n",
+ " <td>38.846</td>\n",
+ " <td>topicReceive</td>\n",
+ " <td>FeedbackNode</td>\n",
+ " <td>UITopic FeedbackIn</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>46</th>\n",
+ " <td>38.885</td>\n",
+ " <td>transitionFired</td>\n",
+ " <td>FeedbackNode</td>\n",
+ " <td>ShowFeedback</td>\n",
+ " </tr>\n",
+ " </tbody>\n",
+ "</table>\n",
+ "</div>"
+ ],
+ "text/plain": [
+ " Time Type Node \\\n",
+ "0 0.000 signalChanged SensorNode \n",
+ "1 9.138 serviceClientSend ExecutorNode \n",
+ "2 9.156 serviceServerReceive SensorNode \n",
+ "3 9.168 transitionFired SensorNode \n",
+ "4 9.297 transitionFired SensorNode \n",
+ "5 9.337 serviceServerSend SensorNode \n",
+ "6 9.429 transitionFired ExecutorNode \n",
+ "7 9.493 serviceClientReceive ExecutorNode \n",
+ "8 18.093 signalChanged SelectorNode \n",
+ "9 18.099 transitionFired SelectorNode \n",
+ "10 18.205 topicSend SelectorNode \n",
+ "11 18.247 topicReceive RightControllerNode \n",
+ "12 18.336 serviceClientSend RightControllerNode \n",
+ "13 18.396 serviceServerReceive SynchronizerNode \n",
+ "14 18.440 transitionFired SynchronizerNode \n",
+ "15 18.597 serviceServerSend SynchronizerNode \n",
+ "16 18.713 serviceClientSend RightControllerNode \n",
+ "17 18.736 serviceClientReceive RightControllerNode \n",
+ "18 18.736 serviceServerReceive ExecutorNode \n",
+ "19 18.783 transitionFired ExecutorNode \n",
+ "20 26.725 signalChanged ExecutorNode \n",
+ "21 26.737 transitionFired ExecutorNode \n",
+ "22 26.785 serviceServerSend ExecutorNode \n",
+ "23 26.908 serviceClientSend RightControllerNode \n",
+ "24 26.928 serviceClientReceive RightControllerNode \n",
+ "25 26.964 serviceServerReceive ExecutorNode \n",
+ "26 27.004 transitionFired ExecutorNode \n",
+ "27 38.210 signalChanged ExecutorNode \n",
+ "28 38.214 transitionFired ExecutorNode \n",
+ "29 38.311 serviceClientSend ExecutorNode \n",
+ "30 38.318 serviceServerReceive SensorNode \n",
+ "31 38.367 transitionFired SensorNode \n",
+ "32 38.399 transitionFired SensorNode \n",
+ "33 38.414 serviceServerSend SensorNode \n",
+ "34 38.460 transitionFired ExecutorNode \n",
+ "35 38.520 transitionFired ExecutorNode \n",
+ "36 38.555 serviceClientReceive ExecutorNode \n",
+ "37 38.566 serviceServerSend ExecutorNode \n",
+ "38 38.656 serviceClientSend RightControllerNode \n",
+ "39 38.658 serviceClientReceive RightControllerNode \n",
+ "40 38.664 serviceServerReceive SynchronizerNode \n",
+ "41 38.695 transitionFired SynchronizerNode \n",
+ "42 38.698 serviceServerSend SynchronizerNode \n",
+ "43 38.749 topicSend RightControllerNode \n",
+ "44 38.752 serviceClientReceive RightControllerNode \n",
+ "45 38.846 topicReceive FeedbackNode \n",
+ "46 38.885 transitionFired FeedbackNode \n",
+ "\n",
+ " Arguments \n",
+ "0 Sensor true \n",
+ "1 sensorService-SensorCall \n",
+ "2 sensorService SensorIn-INSTANCE-0 \n",
+ "3 GetSensorData-INSTANCE-0 \n",
+ "4 ProcessSensorData-INSTANCE-0 \n",
+ "5 sensorService SensorOut-INSTANCE-0 \n",
+ "6 TransitionSafe \n",
+ "7 sensorService SensorResponse \n",
+ "8 Green true \n",
+ "9 SortGreen \n",
+ "10 RightCellTopic GreenOut \n",
+ "11 RightCellTopic R-AwaitingControl \n",
+ "12 getControlService-R-AwaitingControl \n",
+ "13 getControlService GetControlIn-INSTANCE-0 \n",
+ "14 Get-INSTANCE-0 \n",
+ "15 getControlService GetControlOut-INSTANCE-0 \n",
+ "16 pickService-R-Ready \n",
+ "17 getControlService R-Ready \n",
+ "18 pickService PickInput-INSTANCE-0 \n",
+ "19 Pick-INSTANCE-0 \n",
+ "20 PickSuccess true \n",
+ "21 PickingSuccess-INSTANCE-0 \n",
+ "22 pickService PickOutput-INSTANCE-0 \n",
+ "23 placeService-R-ObjectPicked \n",
+ "24 pickService R-ObjectPicked \n",
+ "25 placeService PlaceInput-INSTANCE-0 \n",
+ "26 Place-INSTANCE-0 \n",
+ "27 PlaceSuccess true \n",
+ "28 SafeToSensorCall \n",
+ "29 sensorService-SensorCall \n",
+ "30 sensorService SensorIn-INSTANCE-0 \n",
+ "31 GetSensorData-INSTANCE-0 \n",
+ "32 ProcessSensorData-INSTANCE-0 \n",
+ "33 sensorService SensorOut-INSTANCE-0 \n",
+ "34 TransitionSafe \n",
+ "35 PlacingSuccess-INSTANCE-0 \n",
+ "36 sensorService SensorResponse \n",
+ "37 placeService PlaceOutput-INSTANCE-0 \n",
+ "38 endControlService-R-ObjectPlaced \n",
+ "39 placeService R-ObjectPlaced \n",
+ "40 endControlService EndControlIn-INSTANCE-0 \n",
+ "41 End-INSTANCE-0 \n",
+ "42 endControlService EndControlOut-INSTANCE-0 \n",
+ "43 UITopic R-Done \n",
+ "44 endControlService R-Done \n",
+ "45 UITopic FeedbackIn \n",
+ "46 ShowFeedback "
+ ]
+ },
+ "execution_count": 1,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "import pandas as pd\n",
+ "import matplotlib.pyplot as plt\n",
+ "import numpy as np\n",
+ "import datetime\n",
+ "\n",
+ "labelprops = dict(facecolor='white', alpha=0.8, linewidth=None,edgecolor='white', pad=1)\n",
+ "\n",
+ "def draw_brace(ax, xspan, yy, text):\n",
+ " \"\"\"Draws an annotated brace on the axes.\"\"\"\n",
+ " xmin, xmax = xspan\n",
+ " xspan = xmax - xmin\n",
+ " ax_xmin, ax_xmax = ax.get_xlim()\n",
+ " xax_span = ax_xmax - ax_xmin\n",
+ "\n",
+ " ymin, ymax = ax.get_ylim()\n",
+ " yspan = ymax - ymin\n",
+ " resolution = 601# int(xspan/xax_span*2000)*2+1 # guaranteed uneven\n",
+ " beta = 6000./xax_span # the higher this is, the smaller the radius\n",
+ "\n",
+ " \n",
+ " \n",
+ " x = np.linspace(xmin, xmax, resolution)\n",
+ " x_half = x[:int(resolution/2)+1]\n",
+ " y_half_brace = (1/(1.+np.exp(-beta*(x_half-x_half[0])))\n",
+ " + 1/(1.+np.exp(-beta*(x_half-x_half[-1]))))\n",
+ " y = np.concatenate((y_half_brace, y_half_brace[-2::-1]))\n",
+ " \n",
+ " y = yy + (.05*y - .01)*yspan # adjust vertical position\n",
+ "\n",
+ " ax.autoscale(False)\n",
+ " ax.plot(x, y, color='black', lw=1)\n",
+ "\n",
+ " if text:\n",
+ " ax.text((xmax+xmin)/2., yy+.07*yspan, text, ha='center', va='bottom', bbox=labelprops)\n",
+ "\n",
+ "tracefile = 'trace.txt'\n",
+ "with open(tracefile) as f:\n",
+ " data = list(map(lambda d: tuple(d.split(' ', 3)), f.read().strip().split('\\n')))\n",
+ "\n",
+ "beginning_time = int(data[0][0])/1e3\n",
+ "time_duration = int(data[-1][0])/1e3 - beginning_time\n",
+ "data = [(int(d[0])/1e3 - beginning_time,d[1],d[2],d[3]) for d in data]\n",
+ "\n",
+ "# signal change events\n",
+ "events = []\n",
+ "for (ts,type,node,args) in data:\n",
+ " if (type == 'signalChanged'):\n",
+ " signal,value = args.split(' ',1)\n",
+ " value = int(value == 'true') # Convert to int (0 or 1)\n",
+ " events += [(ts,signal,value)]\n",
+ "\n",
+ "# topic events\n",
+ "channel_times = []\n",
+ "channel_names = []\n",
+ "for (ts,type,node,args) in data:\n",
+ " if (type == 'topicReceive'):\n",
+ " signal, value = args.split(' ',1)\n",
+ " channel_times += [ts]\n",
+ " channel_names += [signal]\n",
+ "\n",
+ "# transition callback events\n",
+ "callback_times = []\n",
+ "callback_names = []\n",
+ "for (ts,type,node,args) in data:\n",
+ " if (type == 'transitionFired'):\n",
+ " callback_times += [ts]\n",
+ " if '-INSTANCE-' in args:\n",
+ " args = args.replace('-INSTANCE-','[') + ']'\n",
+ " callback_names += [args]\n",
+ "\n",
+ "# service call events\n",
+ "service_times = []\n",
+ "service_labels = []\n",
+ "service_names = []\n",
+ "service_instances = []\n",
+ "service_isEntries = []\n",
+ "current_calls = {}\n",
+ "calls = []\n",
+ "for (ts,type,node,args) in data:\n",
+ " if (type.startswith('serviceServer')):\n",
+ " service_times += [ts]\n",
+ " service,name = args.split(' ', 1)\n",
+ " _,_,instance = name.split('-',2)\n",
+ " service_names += [service]\n",
+ " service_instances += [instance]\n",
+ " isEntry = type == 'serviceServerReceive'\n",
+ " service_isEntries += [isEntry]\n",
+ " c_or_r = 'CALL' if isEntry else 'RETURN'\n",
+ " service_labels += [f\"{c_or_r} {service} (Instance {instance})\"]\n",
+ " if isEntry:\n",
+ " current_calls[(service,instance)] = ts\n",
+ " else:\n",
+ " calls += [(service,instance,current_calls[(service,instance)],ts)]\n",
+ "\n",
+ "# Create separate plots for each input signal\n",
+ "unique_signals = list(set(signal for _, signal, _ in events))\n",
+ "# hard code order and color\n",
+ "unique_signals = ['Green', 'Blue', 'Red', 'Sensor', 'PlaceSuccess', 'PickSuccess', 'Stop']\n",
+ "colors = {'Stop': 'tab:olive', 'PickSuccess': 'tab:orange', 'Green': 'tab:green', 'Red': 'tab:red',\n",
+ " 'PlaceSuccess': 'tab:brown', 'Blue': '#8c564b', 'Sensor': 'tab:olive',\n",
+ " 'Stop': 'tab:purple'}\n",
+ "\n",
+ "fig, ax = plt.subplots(constrained_layout=True,figsize=(120, 8))\n",
+ "\n",
+ "for signal in unique_signals:\n",
+ " signal_events = [(step, value) for step, s, value in events if s == signal]\n",
+ " signal_events.insert(0, (0, 0)) # every signal starts off\n",
+ " signal_events.append((len(data), signal_events[-1][1])) # and it ends with the value of the last change\n",
+ " steps, values = map(list, (zip(*signal_events)))\n",
+ " values = list(map(lambda x: x*(unique_signals.index(signal) + 1), values))\n",
+ " plt.step(steps, values, where='post', color=colors[signal])\n",
+ "\n",
+ "plt.xlabel('Time')\n",
+ "x1 = list(range(1, len(unique_signals) + 1))[:-1]\n",
+ "labels = unique_signals[:-1]\n",
+ "\n",
+ "topicheight = -1.3\n",
+ "\n",
+ "ax.vlines(channel_times, 0, topicheight, color=\"tab:grey\") # The vertical stems.\n",
+ "ax.plot(channel_times, np.zeros_like(channel_times), \"o\", color=\"k\", markerfacecolor=\"w\") # Baseline and markers on it.\n",
+ "\n",
+ "# annotate lines\n",
+ "for d, r, i in zip(channel_times, channel_names, range(len(channel_names))):\n",
+ " ax.annotate(r, xy=(d, topicheight),\n",
+ " xytext=(0, 0), textcoords=\"offset points\",\n",
+ " horizontalalignment=\"center\",\n",
+ " verticalalignment=\"top\",bbox=labelprops)\n",
+ "\n",
+ "callbackheight = -3.5\n",
+ "callbackheights = []\n",
+ "current_indent = 0\n",
+ "i_max = 10\n",
+ "max_period = 5 # s\n",
+ "for i in range(len(callback_times)):\n",
+ " if i == 0 or current_indent == i_max or (callback_times[i] - callback_times[i-1] > max_period):\n",
+ " current_indent = 0\n",
+ " else:\n",
+ " current_indent += 1\n",
+ " callbackheights += [callbackheight - current_indent*.8]\n",
+ "\n",
+ "print(callback_times)\n",
+ "print(callbackheights)\n",
+ "\n",
+ "ax.vlines(callback_times, 0, callbackheights, color=\"tab:grey\") # The vertical stems.\n",
+ "ax.plot(callback_times, np.zeros_like(callback_times), \"o\", color=\"k\", markerfacecolor=\"w\") # Baseline and markers on it.\n",
+ "\n",
+ "for d, r, i in zip(callback_times, callback_names, range(len(callback_names))):\n",
+ " ax.annotate(r, xy=(d, callbackheights[i]),\n",
+ " xytext=(0,0), textcoords=\"offset points\",\n",
+ " horizontalalignment=\"center\",\n",
+ " verticalalignment=\"top\",bbox=labelprops)\n",
+ "\n",
+ "baseserviceheight = 9.5\n",
+ "serviceheight = 9.5\n",
+ "\n",
+ "ki = 1\n",
+ "previous_start = 0\n",
+ "previous_end = 0\n",
+ "for (signal,instance,start,end) in calls: \n",
+ " if signal == \"Sensor\":\n",
+ " ax.vlines([start,end], 0, 8, color=\"tab:gray\") # The vertical stems.\n",
+ " ax.plot([start,end], [0,0], \"o\", color=\"k\", markerfacecolor=\"w\") # Baseline and markers on it.\n",
+ " draw_brace(ax, (start, end), 8, f'{signal}[{instance}]')\n",
+ " continue\n",
+ " elif start < previous_end:\n",
+ " serviceheight+=1.5\n",
+ " current_serviceheight = serviceheight\n",
+ " elif start > previous_end:\n",
+ " current_serviceheight = baseserviceheight\n",
+ " elif end > previous_end:\n",
+ " current_serviceheight = serviceheight\n",
+ " else:\n",
+ " pass\n",
+ " ax.vlines([start,end], 0, current_serviceheight, color=\"tab:gray\") # The vertical stems.\n",
+ " ax.plot([start,end], [0,0], \"o\", color=\"k\", markerfacecolor=\"w\") # Baseline and markers on it.\n",
+ "\n",
+ " draw_brace(ax, (start, end), current_serviceheight, f'{signal}[{instance}]')\n",
+ "\n",
+ " previous_start = start\n",
+ " previous_end = end\n",
+ " ki += 1\n",
+ "\n",
+ "for signal in unique_signals:\n",
+ " signal_events = [(step, value) for step, s, value in events if s == signal]\n",
+ " signal_events.insert(0, (0, 0)) # every signal starts off\n",
+ " signal_events.append((len(data), signal_events[-1][1])) # and it ends with the value of the last change\n",
+ " steps, values = map(list, (zip(*signal_events)))\n",
+ " values = list(map(lambda x: x*(unique_signals.index(signal) + 1), values))\n",
+ " plt.step(steps, values, where='post', color=colors[signal])\n",
+ "\n",
+ "plt.yticks(x1, labels)\n",
+ "plt.xlim(data[0][0] - 0.01*time_duration, data[-1][0] + 0.05*time_duration)\n",
+ "\n",
+ "ax.text(-3,3,\"Input Signals\",rotation='vertical')\n",
+ "ax.text(-3,11,\"Service Calls\",rotation='vertical')\n",
+ "ax.text(-0.8,-2,\"Topics\",rotation='vertical')\n",
+ "ax.text(-1.5,-6,\"Transitions\\nwith\\nHandlers\",rotation='vertical',ma='center')\n",
+ "\n",
+ "plt.step([data[0][0] - 0.01*time_duration, data[-1][0] + 0.05*time_duration], [0,0], where='post', color='black')\n",
+ "\n",
+ "plt.ylim(-9, serviceheight + 4)\n",
+ "plt.savefig(\"timeline-real-runtime.pdf\")\n",
+ "plt.show()\n",
+ "\n",
+ "# Create a table showing how often each signal name appears\n",
+ "signal_counts = pd.DataFrame(events, columns=['Step', 'Signal', 'Value']).groupby('Signal').size().reset_index(name='Count')\n",
+ "print(signal_counts)\n",
+ "\n",
+ "print(\"Transitionen: {}\".format(len(data) - 1))\n",
+ "print(\"Events: {}\".format(len(events)))\n",
+ "print(\"Sonstige: {}\\n\".format(len(data)-len(events) - 1))\n",
+ "\n",
+ "# Convert the 'data' list to a Pandas DataFrame and print it\n",
+ "data_df = pd.DataFrame(data, columns=['Time','Type', 'Node', 'Arguments'])\n",
+ "pd.set_option('display.max_rows', None)\n",
+ "pd.set_option('display.max_columns', None)\n",
+ "data_df"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ }
+ ],
+ "metadata": {
+ "kernelspec": {
+ "display_name": "Python 3 (ipykernel)",
+ "language": "python",
+ "name": "python3"
+ },
+ "language_info": {
+ "codemirror_mode": {
+ "name": "ipython",
+ "version": 3
+ },
+ "file_extension": ".py",
+ "mimetype": "text/x-python",
+ "name": "python",
+ "nbconvert_exporter": "python",
+ "pygments_lexer": "ipython3",
+ "version": "3.10.12"
+ }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 4
+}
diff --git a/tools/timeline/timeline-real-runtime.pdf b/tools/timeline/timeline-real-runtime.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..0f2739b760ca5ceaaea58a5c8deabda2fa7a6ffe
Binary files /dev/null and b/tools/timeline/timeline-real-runtime.pdf differ
diff --git a/tools/timeline/trace.txt b/tools/timeline/trace.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c6840f3a39c79a9d7b481c78a02dffd2b81d025c
--- /dev/null
+++ b/tools/timeline/trace.txt
@@ -0,0 +1,47 @@
+1709654536226 signalChanged SensorNode Sensor true
+1709654545364 serviceClientSend ExecutorNode sensorService-SensorCall
+1709654545382 serviceServerReceive SensorNode sensorService SensorIn-INSTANCE-0
+1709654545394 transitionFired SensorNode GetSensorData-INSTANCE-0
+1709654545523 transitionFired SensorNode ProcessSensorData-INSTANCE-0
+1709654545563 serviceServerSend SensorNode sensorService SensorOut-INSTANCE-0
+1709654545655 transitionFired ExecutorNode TransitionSafe
+1709654545719 serviceClientReceive ExecutorNode sensorService SensorResponse
+1709654554319 signalChanged SelectorNode Green true
+1709654554325 transitionFired SelectorNode SortGreen
+1709654554431 topicSend SelectorNode RightCellTopic GreenOut
+1709654554473 topicReceive RightControllerNode RightCellTopic R-AwaitingControl
+1709654554562 serviceClientSend RightControllerNode getControlService-R-AwaitingControl
+1709654554622 serviceServerReceive SynchronizerNode getControlService GetControlIn-INSTANCE-0
+1709654554666 transitionFired SynchronizerNode Get-INSTANCE-0
+1709654554823 serviceServerSend SynchronizerNode getControlService GetControlOut-INSTANCE-0
+1709654554939 serviceClientSend RightControllerNode pickService-R-Ready
+1709654554962 serviceClientReceive RightControllerNode getControlService R-Ready
+1709654554962 serviceServerReceive ExecutorNode pickService PickInput-INSTANCE-0
+1709654555009 transitionFired ExecutorNode Pick-INSTANCE-0
+1709654562951 signalChanged ExecutorNode PickSuccess true
+1709654562963 transitionFired ExecutorNode PickingSuccess-INSTANCE-0
+1709654563011 serviceServerSend ExecutorNode pickService PickOutput-INSTANCE-0
+1709654563134 serviceClientSend RightControllerNode placeService-R-ObjectPicked
+1709654563154 serviceClientReceive RightControllerNode pickService R-ObjectPicked
+1709654563190 serviceServerReceive ExecutorNode placeService PlaceInput-INSTANCE-0
+1709654563230 transitionFired ExecutorNode Place-INSTANCE-0
+1709654574436 signalChanged ExecutorNode PlaceSuccess true
+1709654574440 transitionFired ExecutorNode SafeToSensorCall
+1709654574537 serviceClientSend ExecutorNode sensorService-SensorCall
+1709654574544 serviceServerReceive SensorNode sensorService SensorIn-INSTANCE-0
+1709654574593 transitionFired SensorNode GetSensorData-INSTANCE-0
+1709654574625 transitionFired SensorNode ProcessSensorData-INSTANCE-0
+1709654574640 serviceServerSend SensorNode sensorService SensorOut-INSTANCE-0
+1709654574686 transitionFired ExecutorNode TransitionSafe
+1709654574746 transitionFired ExecutorNode PlacingSuccess-INSTANCE-0
+1709654574781 serviceClientReceive ExecutorNode sensorService SensorResponse
+1709654574792 serviceServerSend ExecutorNode placeService PlaceOutput-INSTANCE-0
+1709654574882 serviceClientSend RightControllerNode endControlService-R-ObjectPlaced
+1709654574884 serviceClientReceive RightControllerNode placeService R-ObjectPlaced
+1709654574890 serviceServerReceive SynchronizerNode endControlService EndControlIn-INSTANCE-0
+1709654574921 transitionFired SynchronizerNode End-INSTANCE-0
+1709654574924 serviceServerSend SynchronizerNode endControlService EndControlOut-INSTANCE-0
+1709654574975 topicSend RightControllerNode UITopic R-Done
+1709654574978 serviceClientReceive RightControllerNode endControlService R-Done
+1709654575072 topicReceive FeedbackNode UITopic FeedbackIn
+1709654575111 transitionFired FeedbackNode ShowFeedback