[
        {
                "id": "f1d2a3c4b5e60000",
                "type": "tab",
                "label": "Watchdog",
                "disabled": false,
                "info": ""
        },
        {
                "id": "cfg1",
                "type": "gofa-robot",
                "name": "ABB-GoFa-12",
                "ip": "192.168.125.1",
                "rwsPort": "443",
                "socketPort": "1025",
                "username": "Default User",
                "remotePointsPath": "$HOME/Programs/gofa_points.json",
                "backgroundPort": "1026",
                "jointLimits": "",
                "allowInsecureLiveControl": false
        },
        {
                "id": "f1d2a3c4b5e60001",
                "type": "inject",
                "z": "f1d2a3c4b5e60000",
                "name": "Watchdog Timer (30s)",
                "props": [
                        {
                                "p": "payload"
                        }
                ],
                "repeat": "30",
                "crontab": "",
                "once": false,
                "onceDelay": 0.1,
                "topic": "",
                "payload": "",
                "payloadType": "date",
                "x": 150,
                "y": 100,
                "wires": [
                        [
                                "f1d2a3c4b5e60002"
                        ]
                ]
        },
        {
                "id": "f1d2a3c4b5e60002",
                "type": "function",
                "z": "f1d2a3c4b5e60000",
                "name": "Skip if recovery in progress",
                "func": "if (flow.get('watchdogRecovering')) {\n    return null;\n}\nreturn msg;",
                "outputs": 1,
                "timeout": 0,
                "noerr": 0,
                "initialize": "",
                "finalize": "",
                "libs": [],
                "x": 380,
                "y": 100,
                "wires": [
                        [
                                "f1d2a3c4b5e60003"
                        ]
                ]
        },
        {
                "id": "f1d2a3c4b5e60003",
                "type": "gofa-connection-status",
                "z": "f1d2a3c4b5e60000",
                "name": "Poll Status",
                "robot": "cfg1",
                "x": 620,
                "y": 100,
                "wires": [
                        [
                                "f1d2a3c4b5e60004"
                        ]
                ],
                "outputPayload": true
        },
        {
                "id": "f1d2a3c4b5e60004",
                "type": "function",
                "z": "f1d2a3c4b5e60000",
                "name": "Detect Wedge",
                "func": "var p = msg.payload;\n// An active EGM session (gofa-egm) also leaves rws.rapid at 'running' while\n// closing the socket for the session's duration - that's expected, not a\n// wedge, so it must be excluded or every EGM session gets misdiagnosed.\nvar wedged = p && p.rws && p.rws.ok && p.rws.rapid === 'running' && p.socket && p.socket.ok === false && !p.egmActive;\nmsg.wedged = !!wedged;\nreturn msg;",
                "outputs": 1,
                "timeout": 0,
                "noerr": 0,
                "initialize": "",
                "finalize": "",
                "libs": [],
                "x": 850,
                "y": 100,
                "wires": [
                        [
                                "f1d2a3c4b5e60005"
                        ]
                ]
        },
        {
                "id": "f1d2a3c4b5e60005",
                "type": "switch",
                "z": "f1d2a3c4b5e60000",
                "name": "Wedged?",
                "property": "wedged",
                "propertyType": "msg",
                "rules": [
                        {
                                "t": "eq",
                                "v": "true",
                                "vt": "bool"
                        }
                ],
                "checkall": "false",
                "repair": false,
                "outputs": 1,
                "x": 1070,
                "y": 100,
                "wires": [
                        [
                                "f1d2a3c4b5e60006"
                        ]
                ]
        },
        {
                "id": "f1d2a3c4b5e60006",
                "type": "function",
                "z": "f1d2a3c4b5e60000",
                "name": "Set recovering flag",
                "func": "flow.set('watchdogRecovering', true);\nreturn msg;",
                "outputs": 1,
                "timeout": 0,
                "noerr": 0,
                "initialize": "",
                "finalize": "",
                "libs": [],
                "x": 1300,
                "y": 100,
                "wires": [
                        [
                                "f1d2a3c4b5e60007"
                        ]
                ]
        },
        {
                "id": "f1d2a3c4b5e60007",
                "type": "gofa-elog",
                "z": "f1d2a3c4b5e60000",
                "name": "Capture Evidence: Elog",
                "robot": "cfg1",
                "domain": 0,
                "minSeverity": 1,
                "x": 1540,
                "y": 100,
                "wires": [
                        [
                                "f1d2a3c4b5e60009"
                        ]
                ],
                "outputPayload": true
        },
        {
                "id": "f1d2a3c4b5e60009",
                "type": "function",
                "z": "f1d2a3c4b5e60000",
                "name": "Stash Elog",
                "func": "flow.set('watchdogEvidence.elog', msg.payload);\nreturn msg;",
                "outputs": 1,
                "timeout": 0,
                "noerr": 0,
                "initialize": "",
                "finalize": "",
                "libs": [],
                "x": 1770,
                "y": 100,
                "wires": [
                        [
                                "f1d2a3c4b5e60008"
                        ]
                ]
        },
        {
                "id": "f1d2a3c4b5e60008",
                "type": "gofa-rapid-tasks",
                "z": "f1d2a3c4b5e60000",
                "name": "Capture Evidence: RAPID Tasks",
                "robot": "cfg1",
                "task": "T_ROB1",
                "x": 2010,
                "y": 100,
                "wires": [
                        [
                                "f1d2a3c4b5e6000a"
                        ]
                ],
                "outputPayload": true
        },
        {
                "id": "f1d2a3c4b5e6000a",
                "type": "function",
                "z": "f1d2a3c4b5e60000",
                "name": "Stash RAPID Tasks",
                "func": "flow.set('watchdogEvidence.rapidTasks', msg.payload);\nreturn msg;",
                "outputs": 1,
                "timeout": 0,
                "noerr": 0,
                "initialize": "",
                "finalize": "",
                "libs": [],
                "x": 2250,
                "y": 100,
                "wires": [
                        [
                                "f1d2a3c4b5e6000b"
                        ]
                ]
        },
        {
                "id": "f1d2a3c4b5e6000b",
                "type": "gofa-rapid-exec",
                "z": "f1d2a3c4b5e60000",
                "name": "Stop RAPID",
                "robot": "cfg1",
                "action": "stop",
                "x": 2480,
                "y": 100,
                "wires": [
                        [
                                "f1d2a3c4b5e6000c"
                        ]
                ],
                "outputPayload": true
        },
        {
                "id": "f1d2a3c4b5e6000c",
                "type": "change",
                "z": "f1d2a3c4b5e60000",
                "name": "Clear Payload",
                "rules": [
                        {
                                "t": "set",
                                "p": "payload",
                                "pt": "msg",
                                "to": "{}",
                                "tot": "jsonata"
                        }
                ],
                "action": "",
                "property": "",
                "from": "",
                "to": "",
                "reg": false,
                "x": 2680,
                "y": 100,
                "wires": [
                        [
                                "f1d2a3c4b5e6000d"
                        ]
                ]
        },
        {
                "id": "f1d2a3c4b5e6000d",
                "type": "gofa-rapid-exec",
                "z": "f1d2a3c4b5e60000",
                "name": "Reset Program Pointer",
                "robot": "cfg1",
                "action": "resetpp",
                "x": 2880,
                "y": 100,
                "wires": [
                        [
                                "f1d2a3c4b5e6000e"
                        ]
                ],
                "outputPayload": true
        },
        {
                "id": "f1d2a3c4b5e6000e",
                "type": "change",
                "z": "f1d2a3c4b5e60000",
                "name": "Clear Payload",
                "rules": [
                        {
                                "t": "set",
                                "p": "payload",
                                "pt": "msg",
                                "to": "{}",
                                "tot": "jsonata"
                        }
                ],
                "action": "",
                "property": "",
                "from": "",
                "to": "",
                "reg": false,
                "x": 3080,
                "y": 100,
                "wires": [
                        [
                                "f1d2a3c4b5e6000f"
                        ]
                ]
        },
        {
                "id": "f1d2a3c4b5e6000f",
                "type": "gofa-rapid-exec",
                "z": "f1d2a3c4b5e60000",
                "name": "Start RAPID",
                "robot": "cfg1",
                "action": "start",
                "x": 3280,
                "y": 100,
                "wires": [
                        [
                                "f1d2a3c4b5e60010"
                        ]
                ],
                "outputPayload": true
        },
        {
                "id": "f1d2a3c4b5e60010",
                "type": "change",
                "z": "f1d2a3c4b5e60000",
                "name": "Clear Payload",
                "rules": [
                        {
                                "t": "set",
                                "p": "payload",
                                "pt": "msg",
                                "to": "{}",
                                "tot": "jsonata"
                        }
                ],
                "action": "",
                "property": "",
                "from": "",
                "to": "",
                "reg": false,
                "x": 3480,
                "y": 100,
                "wires": [
                        [
                                "f1d2a3c4b5e60011"
                        ]
                ]
        },
        {
                "id": "f1d2a3c4b5e60011",
                "type": "gofa-connection-status",
                "z": "f1d2a3c4b5e60000",
                "name": "Re-check Status",
                "robot": "cfg1",
                "x": 3680,
                "y": 100,
                "wires": [
                        [
                                "f1d2a3c4b5e60012"
                        ]
                ],
                "outputPayload": true
        },
        {
                "id": "f1d2a3c4b5e60012",
                "type": "function",
                "z": "f1d2a3c4b5e60000",
                "name": "Clear flag + notify",
                "func": "flow.set('watchdogRecovering', false);\nvar evidence = flow.get('watchdogEvidence') || {};\nmsg.payload = {\n    recoveredAt: Date.now(),\n    recoverySucceeded: !!(msg.payload && msg.payload.ok),\n    finalStatus: msg.payload,\n    evidence: evidence\n};\nflow.set('watchdogEvidence', {});\nreturn msg;",
                "outputs": 1,
                "timeout": 0,
                "noerr": 0,
                "initialize": "",
                "finalize": "",
                "libs": [],
                "x": 3900,
                "y": 100,
                "wires": [
                        [
                                "f1d2a3c4b5e60013"
                        ]
                ]
        },
        {
                "id": "f1d2a3c4b5e60013",
                "type": "debug",
                "z": "f1d2a3c4b5e60000",
                "name": "Watchdog Recovery Result",
                "active": true,
                "tosidebar": true,
                "console": false,
                "tostatus": false,
                "complete": "payload",
                "targetType": "msg",
                "x": 4140,
                "y": 100,
                "wires": []
        },
        {
                "id": "f1d2a3c4b5e60014",
                "type": "comment",
                "z": "f1d2a3c4b5e60000",
                "name": "A real deployment might wire \"Watchdog Recovery Result\" into email/Slack/etc. instead of (or in addition to) the debug sidebar.",
                "info": "",
                "x": 4140,
                "y": 160,
                "wires": []
        }
]