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Fix schedule._reintroduce_delays() and introduce sfg.insert_operation_before() function

Hugo Winbladh requested to merge schedule-delay-reintroduction-improvements into master

Fixes a problem with the _reintroduce_delays() method which did not work as intended for larger SFGs and improves the algorithm used to simplify the SFG afterwards.

Also adds methods in SFG to insert an operation before a certain operation given a graphID

More tests are added as well

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