scchart Tut1 {
  int counter = 0;
  int khcounter = 0;
  bool second = false;
  bool start = false;
  int ic_st_1_0 = 0;
  int kh_st_2_0 = 0;
  int kio_ln_0_1;
  int ic_ln_0_0;
  int ic_ln_5_0;
  bool khTrain = false;
  bool icTrain = false;
  int kh_ic_st_1_0 = 0;
  kh2Train = false;
 
	
region KHcontroller: 
  	initial state init2
	--> driving_khTrain immediate with /'settrack(railway, KH_ST_2, REV, 100)';'settrack(railway, KH_ST_0, REV, 100)';'settrack(railway, KIO_LN_0, REV, 100)';'settrack(railway, OC_ST_4, REV, 100)';'settrack(railway, OC_ST_0, REV, 100)';'settrack(railway, KIO_LN_1, REV, 100)';'settrack(railway, KH_ST_6, REV, 100)';'setpoint(railway, 4, BRANCH)';'setpoint(railway, 3, STRAIGHT)';'setpoint(railway, 2, STRAIGHT)';'setpoint(railway, 1, BRANCH)';'setpoint(railway, 8, BRANCH)';'setpoint(railway, 7, BRANCH)';'setpoint(railway, 0, BRANCH)';'setpoint(railway, 9, BRANCH)';'setpoint(railway, 16, BRANCH)';'setpoint(railway, 17, BRANCH)';'setpoint(railway, 27, STRAIGHT)';'setpoint(railway, 28, STRAIGHT)';'setpoint(railway, 18, BRANCH)';
	state driving_khTrain
	--> khWaitForPoint immediate with /kio_ln_0_1='getcontact(railway, KIO_LN_0, 1 ,1)';
	state khWaitForPoint 
	--> khPoint18 immediate with kio_ln_0_1/icTrain='trackused(railway, IC_LN_5)'
	--> driving_khTrain;
	state khPoint18
	--> slowdownPoint18 immediate with icTrain&&('getpoint(railway,18)'==0)/'settrack(railway, KIO_LN_0, FWD, 40)'
	--> notrain_ic_st_1_0 immediate with /'setpoint(railway, 18, BRANCH)';
	state slowdownPoint18
	--> stopKHPoint18 immediate with /kio_ln_0_1='getcontact(railway, KIO_LN_0, 1 ,1)';
	state stopKHPoint18
	--> waitForKHPoint18 immediate with kio_ln_0_1/'settrack(railway, KIO_LN_0, BRAKE, 0)'
	--> slowdownPoint18;
	state waitForKHPoint18
	--> notrain_ic_st_1_0 immediate with 'getpoint(railway, 18)'==1/'settrack(railway, KIO_LN_0, FWD, 100)';
	
	state notrain_ic_st_1_0
	--> check_ic_st_1_0 immediate with /kh_ic_st_1_0='getcontact(railway, IC_ST_1, 0, 1)';
	state check_ic_st_1_0 
	--> ICfirstcontact immediate with (kh_ic_st_1_0 > 0)/'setpoint(railway, 18, STRAIGHT)';'settrack(railway, IC_ST_1, FWD, 40)';'setpoint(railway, 18, STRAIGHT)'
	--> notrain_ic_st_1_0;
	state ICfirstcontact
	--> check_again_ic_st_1_0 immediate with /kh_ic_st_1_0='getcontact(railway, IC_ST_1, 0, 1)';
	state check_again_ic_st_1_0
	--> ICwait immediate with (kh_ic_st_1_0 > 0)/'settrack(railway, IC_ST_1, BRAKE, 0)';khcounter=0
	--> ICfirstcontact;
	state ICwait
	--> notrain_kh_st_2_0 with khcounter==10/'settrack(railway, IC_ST_1, FWD, 100)';'setpoint(railway, 29, BRANCH)'
	--> ICwait  with second/khcounter=khcounter+1;
  	state notrain_kh_st_2_0
  	--> check_kh_st_2_0 immediate with /kh_st_2_0='getcontact(railway, KH_ST_2, 1, 1)';
	state check_kh_st_2_0 
	--> KHfirstcontact immediate with (kh_st_2_0 > 0)/'settrack(railway, KH_ST_2, REV, 40)'
	--> notrain_kh_st_2_0;
	state KHfirstcontact
	--> check_again_kh_st_2_0 immediate with /kh_st_2_0='getcontact(railway, KH_ST_2, 1, 1)';
	state check_again_kh_st_2_0
	--> KHwait immediate with (kh_st_2_0 > 0)/'settrack(railway, KH_ST_2, BRAKE, 0)';khcounter=0
	--> KHfirstcontact;
	state KHwait
	--> driving_khTrain with khcounter==10/'settrack(railway, KH_ST_2, REV, 100)'
	--> KHwait with second/khcounter=khcounter+1; 
	
	
  region ICcontroller:
	initial state init
	--> driving_icTrain immediate with /'settrack(railway, IC_ST_1, FWD, 100)';'settrack(railway, IC_ST_0, FWD, 100)';'settrack(railway, IC_LN_0, FWD, 100)';'settrack(railway, IC_LN_1, FWD, 100)';'settrack(railway, IC_LN_2, FWD, 100)';'settrack(railway, IC_LN_3, FWD, 100)';'settrack(railway, IC_LN_4, FWD, 100)';'settrack(railway, IC_JCT_0, FWD, 100)';'settrack(railway, IC_LN_5, FWD, 100)';'settrack(railway, IC_ST_4, FWD, 100)';'setpoint(railway, 18, STRAIGHT)';'setpoint(railway, 20, STRAIGHT)';'setpoint(railway, 24, STRAIGHT)';'setpoint(railway, 29, STRAIGHT)';
	state driving_icTrain
	--> icWaitForPoint immediate with /ic_ln_5_0='getcontact(railway, IC_LN_5, 0 ,1)';'printf("wait for point 18")';
	state icWaitForPoint 
	--> icPoint18 immediate with ic_ln_5_0/khTrain='trackused(railway, KIO_LN_0)';kh2Train='trackused(railway, IC_ST_1)';'printf("At point 18")'
	--> driving_icTrain with /'printf("still waiting for point 18")';
	
	state icPoint18
	--> slowdownPoint18 immediate with kh2Train||(khTrain&&('getpoint(railway,18)'==1))/'settrack(railway, IC_LN_5, FWD, 40)';'printf("something is in the way")'
	--> notrain_ic_st_1_0 immediate with /'setpoint(railway, 18, STRAIGHT)';'printf("NOthing is in the way")';
	state slowdownPoint18
	--> stopICPoint18 immediate with /ic_ln_5_0='getcontact(railway, IC_LN_5, 0 ,1)';kh2Train='trackused(railway, IC_ST_1)';
	state stopICPoint18
	--> waitForPoint18 immediate with kh2Train||ic_ln_5_0/'settrack(railway, IC_LN_5, BRAKE, 0)'
	--> slowdownPoint18;
	state waitForPoint18
	--> notrain_ic_st_1_0 immediate with (!'trackused(railway, IC_ST_1)')&&'getpoint(railway, 18)'==0/'settrack(railway, IC_LN_5, FWD, 100)';
	
	
	
	state notrain_ic_st_1_0
	--> check_ic_st_1_0 immediate with /ic_st_1_0='getcontact(railway, IC_ST_1, 0, 1)';
	state check_ic_st_1_0 
	--> ICfirstcontact immediate with (ic_st_1_0 > 0)/'setpoint(railway, 18, BRANCH)';'settrack(railway, IC_ST_1, FWD, 40)'
	--> notrain_ic_st_1_0;
	state ICfirstcontact
	--> check_again_ic_st_1_0 immediate with /ic_st_1_0='getcontact(railway, IC_ST_1, 0, 1)';
	state check_again_ic_st_1_0
	--> ICwait immediate with (ic_st_1_0 > 0)/'settrack(railway, IC_ST_1, BRAKE, 0)';counter=0
	--> ICfirstcontact;
	state ICwait
	--> leaveICstation with counter==10/'settrack(railway, IC_ST_1, FWD, 100)';'setpoint(railway, 29, STRAIGHT)'
	--> ICwait with second/counter=counter+1;
	state leaveICstation
	--> driving_icTrain with !'trackused(railway,IC_ST_1)'/'getcontact(railway, IC_LN_5, 0, 1)';
	
  
}