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Changes for page Basic design

Last modified by nfl on 2025/01/30 12:05
From version 1.1
edited by nbw
on 2014/06/18 16:41
Change comment: There is no comment for this version
To version 19.1
edited by sna
on 2014/08/20 23:21
Change comment: There is no comment for this version

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1 -XWiki.nbw
1 +XWiki.sna
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1 +
2 +
3 +{{toc/}}
4 +
1 1  We compose our railway controller from several train controllers, combined with controllers for mutual exclusion.
2 2  
3 3  == Mutual Exclusion ==
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4 4  
5 5  === Normal segments ===
6 6  
7 -For each block we generate one mutex controller, similar to the following pattern.
11 +**For each block** we generate one mutex controller, similar to the following pattern.
8 8  
9 9  [[image:attach:Mutex.png]]
10 10  
11 -For each controlled train one state and the corresponding transitions are added.
15 +**For each controlled train** one state and the corresponding transitions are added.
12 12  
13 -For a free track the *_perm variable is set to -1 and all tracks, apart from starting positions, are initialised with -1. For the starting positions the *_perm variables are set to the corresponding train number and the *_req variable for the train is set to true.
17 +A train **must** signal the wish to enter a segment by setting the variable **bool <segment>_req[trainNum] **to true.
18 +The right to enter a segement is given to the train by setting the variable **int <segment>_perm** to the train number.
19 +After leaving a segment the train **must** remove its request by setting <segment>_req[trainNum] to false again.
14 14  
15 -**A train must not enter a segment without holding the lock for the segment. No exceptions from this rule are allowed.**
21 +For a free track the *_perm variable is set to -1 and all tracks, apart from starting positions, are initialized with -1. For the starting positions the *_perm variables are set to the corresponding train number and the *_req variable for the train is set to true.
16 16  
23 +**A train must not enter a segment or alter the settings of a segment without holding the lock for the segment. No exceptions from this rule are allowed.**
24 +
17 17  === Kicking Horse Pass ===
18 18  
19 -To prevent collisions on the track, a special controller manages the right to enter the Kicking Horse Pass.
27 +To prevent collisions on the track, a special controller manages the rights to enter or leave the Kicking Horse Pass.
20 20  
21 21  [[image:attach:Mutex_KH.png]]
22 22  
23 -The controller splits the pass into two parts, left and right, corresponding to the track layout chart. [[(Simplified track layout)>>url:http://www.informatik.uni-kiel.de/~~railway/Downloads/kscheme.pdf||shape="rect"]]
31 +The controller splits the pass into two parts, //left// and //right//, corresponding to the track layout chart. [[(Simplified track layout)>>url:http://www.informatik.uni-kiel.de/~~railway/Downloads/kscheme.pdf||shape="rect"]]
24 24  
25 -We allow two trains in one direction
33 +Each part has two operational modes, //in// and //out//, being active when trains are allowed to either enter or leave the pass. When entering the pass the controller counts the entering trains and only lets two trains enter (one after the other). When leaving the pass the trains are removed from the counter, freeing space for the next train.
34 +
35 +== Train controller ==
36 +
37 +Each train controller is set in a separate region with a referenced state. This state has the following interface:
38 +
39 +
40 +\\\\\\\\
41 +
42 +{{{    input int *_perm;         # All permission variables (Tracks) input bool *_perm # KH permission variables   input int trainNum;    input bool cleanup; input bool debug; output bool *_req[]; # All request variables}}}
43 +
44 +The train controller is composed of several //Station-2-Station// controllers. These are combined to form a complete schedule. Additionally, the cleanup signal has to be watched to abort the schedule and return back to the initial position.
45 +
46 +=== Structure ===
47 +
48 +{{code linenumbers="true" language="sct"}}
49 +//
50 +// Structure of a train controller based on test case 2
51 +//
52 +scchart Test2 "Test of IC_JCT" {
53 +  // Set of request variables for all tracks for 11 trains
54 + bool IC_JCT_0_req[11], IC_LN_0_req[11], IC_LN_1_req[11], IC_LN_2_req[11];
55 + bool IC_LN_3_req[11], IC_LN_4_req[11], IC_LN_5_req[11], IC_ST_0_req[11];
56 + bool IC_ST_1_req[11], IC_ST_2_req[11], IC_ST_3_req[11], IC_ST_4_req[11];
57 + bool IO_LN_0_req[11], IO_LN_1_req[11], IO_LN_2_req[11], KH_LN_0_req[11];
58 + bool KH_LN_1_req[11], KH_LN_2_req[11], KH_LN_3_req[11], KH_LN_4_req[11];
59 + bool KH_LN_5_req[11], KH_LN_6_req[11], KH_LN_7_req[11], KH_LN_8_req[11];
60 + bool KH_ST_0_req[11], KH_ST_1_req[11], KH_ST_2_req[11], KH_ST_3_req[11];
61 + bool KH_ST_4_req[11], KH_ST_5_req[11], KH_ST_6_req[11], KIO_LN_0_req[11];
62 + bool KIO_LN_1_req[11], OC_JCT_0_req[11], OC_LN_0_req[11], OC_LN_1_req[11];
63 + bool OC_LN_2_req[11], OC_LN_3_req[11], OC_LN_4_req[11], OC_LN_5_req[11];
64 + bool OC_ST_0_req[11], OC_ST_1_req[11], OC_ST_2_req[11], OC_ST_3_req[11];
65 + bool OC_ST_4_req[11], OI_LN_0_req[11], OI_LN_1_req[11], OI_LN_2_req[11];
66 + bool req_in_R, req_out_R, req_in_L, req_out_L;
67 +
68 +  // Set of permission variables for all tracks
69 + int IC_JCT_0_perm, IC_LN_0_perm, IC_LN_1_perm, IC_LN_2_perm;
70 + int IC_LN_3_perm, IC_LN_4_perm, IC_LN_5_perm, IC_ST_0_perm;
71 + int IC_ST_1_perm, IC_ST_2_perm, IC_ST_3_perm, IC_ST_4_perm;
72 + int IO_LN_0_perm, IO_LN_1_perm, IO_LN_2_perm, KH_LN_0_perm;
73 + int KH_LN_1_perm, KH_LN_2_perm, KH_LN_3_perm, KH_LN_4_perm;
74 + int KH_LN_5_perm, KH_LN_6_perm, KH_LN_7_perm, KH_LN_8_perm;
75 + int KH_ST_0_perm, KH_ST_1_perm, KH_ST_2_perm, KH_ST_3_perm;
76 + int KH_ST_4_perm, KH_ST_5_perm, KH_ST_6_perm, KIO_LN_0_perm;
77 + int KIO_LN_1_perm, OC_JCT_0_perm, OC_LN_0_perm, OC_LN_1_perm;
78 + int OC_LN_2_perm, OC_LN_3_perm, OC_LN_4_perm, OC_LN_5_perm;
79 + int OC_ST_0_perm, OC_ST_1_perm, OC_ST_2_perm, OC_ST_3_perm;
80 + int OC_ST_4_perm, OI_LN_0_perm, OI_LN_1_perm, OI_LN_2_perm;
81 +  bool perm_in_R, perm_out_R, perm_in_L, perm_out_L;
82 +
83 + // Debug flag for additional output
84 + bool debug = false;
85 + // Cleanup flag for halting the trains at home station tracks
86 +  bool cleanup = false;
87 +  // Variable, that gives the number of trains to C-Controller for stability check
88 + int trainCount;
89 +
90 + // Set of constants for binding to referenced SCCharts
91 + const int c_EINS = 1;
92 + const int c_ZWEI = 2;
93 + const int c_DREI = 3;
94 + const int c_VIER = 4;
95 + const int c_FUENF = 5;
96 +
97 + // State initializing the trains on corresponding tracks
98 + initial state init references initRailway11Trains
99 + --> run;
100 +
101 + // State handling the train schedules
102 + state run {
103 + // Regions handling the mutual exclusion on the track segments
104 + region Mutexes:
105 +  // State referenced to the MutexController for 11 Trains
106 + initial state Mutexes references mutexRailway11Trains;
107 +
108 + region KH_Mutexes:
109 +  // State referenced to additional MutexController for KH
110 + initial state KH_Mutexes references kh_mutex;
111 +
112 + // Regions that contain the schedules for individual trains
113 + //--------------------------------------------------------------------------------------
114 +
115 + // Region with schedule for train 4
116 + region Train4 :
117 +  // State with the schedule for train 4
118 + initial state train4 {
119 +
120 + // Annotation for replacing following constant in the hostcode of referenced SCChart
121 + @alterHostcode
122 + // Number of the train for identifying on track segments
123 + const int trainNum = 4;
124 +  // Variable specifying the track, where the train arrives at,
125 + // and for transmitting the track number to next Station-2-Station controller
126 + int arrivalTrack = 3;
127 +
128 + // Schedule of train 4: train drives only in the IC, should use station track 3
129 + // State Round referenced to ICIC Station-2-Station controller
130 + initial state Round references ICIC
131 + bind depTrack to arrivalTrack,
132 + destTrack to c_DREI,
133 + arrTrack to arrivalTrack
134 +  // Transition to checking state
135 + >-> Choice;
136 +
137 + // State for checking, when the train should halt and if the train is on corresponding track
138 + state Choice
139 + // Transition for driving additional circle, if cleanup = false or wrong track used
140 + --> Round with !cleanup | !(arrivalTrack == 3)
141 + // Transition to final state
142 + --> Done;
143 +
144 + final state Done;
145 + };
146 +
147 +
148 + // Region with schedule for train 5, identical to region above
149 +  region Train5 :
150 + initial state train5 {
151 +
152 + @alterHostcode
153 + const int trainNum = 5;
154 + int arrivalTrack = 2;
155 +
156 + initial state Round references ICIC
157 + bind depTrack to arrivalTrack,
158 + destTrack to c_ZWEI,
159 + arrTrack to arrivalTrack
160 + >-> Choice;
161 +
162 + state Choice
163 + --> Round with !cleanup | !(arrivalTrack == 2)
164 + --> Done;
165 +
166 + final state Done;
167 +
168 + };
169 +
170 +
171 + // Region with schedule for train 9, identical to region above
172 + region Train9 :
173 + initial state train9 {
174 +
175 + @alterHostcode
176 + const int trainNum = 9;
177 + int arrivalTrack = 1;
178 +
179 + initial state Round references ICIC
180 + bind depTrack to arrivalTrack,
181 + destTrack to c_EINS,
182 + arrTrack to arrivalTrack
183 + >-> Choice;
184 +
185 + state Choice
186 + --> Round with !cleanup | !(arrivalTrack == 1)
187 + --> Done;
188 +
189 + final state Done;
190 + };
191 +
192 +
193 + // Region with schedule for train 7
194 + region Train7 :
195 + initial state train7 {
196 +
197 + @alterHostcode
198 + const int trainNum = 7;
199 + int arrivalTrack = 1;
200 +
201 + // Schedule of train 7: train drives from OC-Station track 1 to IC-Station track 2 and back
202 + // arrivalTrack used for transmitting the number of station track where train arrived on
203 + // to next controller where the train starts on
204 + initial state OCtoIC references OCIC
205 + bind depTrack to arrivalTrack,
206 + destTrack to c_ZWEI,
207 + arrTrack to arrivalTrack
208 +  // Transition to next Station-2-Station controller
209 + >-> ICtoOC;
210 +
211 + state ICtoOC references ICOC
212 + bind depTrack to arrivalTrack,
213 + destTrack to c_EINS,
214 + arrTrack to arrivalTrack
215 +  // Transition to checking state because train at home station
216 + >-> Choice;
217 +
218 + // State for checking, when the train should halt and if the train is on corresponding track
219 + state Choice
220 + // Transition for driving additional circle, if cleanup = false or wrong track used
221 +  --> OCtoIC with !cleanup | !(arrivalTrack == 1)
222 + // Transition to final state
223 + --> Done;
224 +
225 + final state Done;
226 + };
227 + };
228 +}
229 +{{/code}}
230 +
231 +
232 +
233 +== Station-2-Station controller ==
234 +
235 +Each Station-2-Station controller realizes the movement from one of the stations (IC,OC,KH) to another station. All controllers using IC or OC parts have to respect the traveling directions. For the Kicking Horse Pass two separate controllers, forwards and backwards, are used.
236 +
237 +The controllers starting from Kicking Horse Pass Station make an assumption of the direction of the train. These are dependent on the directions of the inner or outer circle, e.g. the KHIC controller starts backwards because this is the only valid direction to travel this path. To drive a train from the Kicking Horse Station (facing forward) to the Inner Circle we have to combine the KHOC and OCIC controllers.
238 +
239 +[[image:attach:ICIC.png]]
240 +
241 +When arriving on a station the train controller **must** first call the function //void railArrival(int train, int station)//. This starts the waiting timer for the train.
242 +Next the train **must** wait for// int railDeparture(int train)// to return 1.
243 +After the waiting has finished the controller can reach a final state and pass the control back to the train controller.
244 +
245 +=== Structure  ===
246 +
247 +{{code linenumbers="true" language="sct"}}
248 +//
249 +// Structure of a Station-2-Station controller from Station * to Station *
250 +//
251 +scchart STST " * to * Controller " {
252 +
253 + // Set of permission variables for required tracks
254 + input int *_perm;
255 +
256 + // Set of request variables for required tracks for 11 trains
257 + output bool *_req[11];
258 +
259 + // Train number
260 + input int trainNum;
261 +
262 + // Number of the departure track in a station
263 + input int depTrack;
264 +
265 + // Number of the destination track in a station
266 + input int destTrack;
267 +
268 + // Cleanup flag for selecting the destination track
269 + input bool cleanup;
270 +
271 + // Debug flag for additional output
272 + input bool debug;
273 +
274 + // Arrival track
275 + output int arrTrack;
276 +
277 + // Variable with value for arrTrack for selecting correct station elements
278 + int i_arrOnTrack;
279 +
280 + // Handles departing from a station *
281 + initial state *_ST {
282 + // hostcode call for additional output when debug
283 + entry debug / 'println([trainNum][ST-ST] ... )';
284 +
285 + // State, which sets requests for needed tracks
286 + initial state waitForPerm {
287 + entry / *_ST_4_req[trainNum] = true;
288 + entry / *_LN_0_req[trainNum] = true;
289 + }
290 + // Transition is taken, if all permissions are received
291 + --> gotPerm with (*_ST_4_perm == trainNum) & (*_LN_0_perm == trainNum)
292 + // Transition is taken, if some (not all) permissions are received
293 + --> backOff with (*_ST_4_perm == trainNum) | (*_LN_0_perm == trainNum);
294 +
295 + // State for waiting an additional tick when not all permissions are received
296 + state backOff
297 + --> backOff1;
298 +
299 + // State, which releases the requests for needed tracks
300 + state backOff1 {
301 + entry / *_ST_4_req[trainNum] = false;
302 + entry / *_LN_0_req[trainNum] = false;
303 + }
304 + // Transition to repeat requesting permissions procedure
305 + --> waitForPerm;
306 +
307 + final state gotPerm;
308 + }
309 + // Transition to the departure state
310 + >-> Dep_*_ST;
311 +
312 + // State, which handles the departure of a train
313 + state Dep_*_ST {
314 + // Set of entry-Actions with hostcode calls to set tracks, points and signals according to depTrack
315 + entry / 'railPoint(*,STRAIGHT)';
316 + entry / 'railSignal(*_LN_0, FWD, RED)';
317 + entry / 'railTrack(*_LN_0,FWD,trainNum,NORMAL)';
318 + entry / 'railTrack(*_ST_4,FWD,trainNum,NORMAL)';
319 + entry depTrack == 1 / 'railSignal(*_ST_1, FWD, GREEN)';
320 + entry depTrack == 2 / 'railSignal(*_ST_2, FWD, GREEN)';
321 + entry depTrack == 3 / 'railSignal(*_ST_3, FWD, GREEN)';
322 + //...
323 + // Transition to next track segment, if contact is triggered
324 + } --> *_LN_0 with 'railContact(*_LN_0,0)';
325 +
326 +
327 +
328 + // ----------------------------------------------------------------------------------------------------------------
329 + // Set of track segment controlling states such as follows
330 + // ----------------------------------------------------------------------------------------------------------------
331 +
332 + // Transition to next track segment, if contact is triggered
333 + state *_LN_0 {
334 + // Hostcode calls for outputs
335 + entry / 'println("[trainNum][ST-ST] Entering *_LN_0")';
336 + entry debug / 'println("[trainNum][ST-ST] Requesting permission for *_LN_1")';
337 + // Entry-Actions with hostcode calls to set previous signal according to depTrack to RED
338 + entry depTrack == 1 / 'railSignal(*_ST_1, FWD, RED)';
339 + entry depTrack == 2 / 'railSignal(*_ST_2, FWD, RED)';
340 + entry depTrack == 3 / 'railSignal(*_ST_3, FWD, RED)';
341 + // Requesting the next track segment
342 + entry / *_LN_1_req[trainNum] = true;
343 +
344 + // Region for handling train driving
345 + region Travel:
346 + initial state Entry
347 + // Transition to continuing state, if permitted
348 + --> Continue with 'railContact(*_LN_0,0)' & (*_LN_1_perm == trainNum)
349 + // Transition to slowing down else
350 + --> Slowdown with 'railContact(*_LN_0,0)';
351 +
352 + // State for slowing down the train
353 + state Slowdown {
354 + entry debug / 'println("[trainNum][ST-ST] Slowing down on *_LN_0")';
355 + // Entry-Action with hostcode calls for slowing down the train
356 + entry / 'railTrack(*_LN_0,FWD,trainNum,CAUTION)';
357 + }
358 + // Transition to waiting state
359 + --> Waiting with 'railContact(*_LN_0,1)'
360 + // Transition to continuing state, if permitted
361 + --> Continue with *_LN_1_perm == trainNum;
362 +
363 + // State for train waiting on permission
364 + state Waiting {
365 + entry debug / 'println("[trainNum][ST-ST] Stopping on *_LN_0")';
366 + // Entry-Action with hostcode call for stopping the train
367 + entry / 'railTrackBrake(*_LN_0)';
368 + }
369 + --> Continue with *_LN_1_perm == trainNum;
370 +
371 + // State to continuing driving on the track
372 + final state Continue {
373 + entry debug / 'println("[trainNum][ST-ST] Continuing on *_LN_0")';
374 + // Entry-Actions with hostcode calls to set tracks and signals for driving
375 + entry / 'railSignal(*_LN_0,FWD,GREEN)';
376 + entry / 'railTrack(*_LN_0,FWD,trainNum,NORMAL)';
377 + entry / 'railTrack(*_LN_1,FWD,trainNum,NORMAL)';
378 + entry / 'railSignal(*_LN_1, FWD, RED)';
379 + };
380 +
381 + // Region for handling cleanup functionalities
382 + region Cleanup:
383 + initial state Entry
384 + // Transition to cleanup state
385 + --> cleanup with 'railContact(*_LN_0,0)';
386 +
387 + // State for cleaning up the previous track segments
388 + final state cleanup {
389 + entry debug / 'println("[trainNum][ST-ST] Entered *_LN_0 completely")';
390 + // Entry-Action with hostcode call to switching off the previous track
391 + entry / 'railTrackOff(*_ST_4)';
392 + // Entry-Action to release the previous track
393 + entry / *_ST_4_req[trainNum] = false;
394 + };
395 + // Transition to transitional state
396 + }>-> *_LN_0_*_LN_1;
397 +
398 + state *_LN_0_*_LN_1
399 + // Transition to next track segment, if contact is triggered
400 + --> *_LN_1 with 'railContact(*_LN_1,0)';
401 +
402 + // ----------------------------------------------------------------------------------------------------------------
403 +
404 +
405 +
406 + // State for entering a station
407 + state *_LN_5 {
408 + // Variable for checking all needed permissions
409 + int perm_all_next_segments = false;
410 + entry / 'println("[trainNum][ST-ST] Entering *_LN_5")';
411 + entry / 'railSignal(*_LN_4, FWD, RED)';
412 +
413 + // Region for handling train driving such as above,
414 + // only with perm_all_next_segments for permitting more than one track
415 + region Travel:
416 + initial state Entry
417 + --> Continue with 'railContact(*_LN_5,0)' & perm_all_next_segments
418 + --> Slowdown with 'railContact(*_LN_5,0)';
419 +
420 + state Slowdown {
421 + entry debug / 'println("[trainNum][ST-ST] Slowing down on *_LN_5")';
422 + entry / 'railTrack(*_LN_5,FWD,trainNum,CAUTION)';
423 + }
424 + --> Waiting with 'railContact(*_LN_5,1)'
425 + --> Continue with perm_all_next_segments;
426 +
427 + state Waiting {
428 + entry debug / 'println("[trainNum][ST-ST] Stopping on *_LN_5")';
429 + entry / 'railTrackBrake(*_LN_5)';
430 + }
431 + --> Continue with perm_all_next_segments;
432 +
433 + final state Continue {
434 + entry debug / 'println("[trainNum][ST-ST] Continuing on *_LN_5")';
435 + entry i_arrOnTrack == 1 / 'railTrack(*_ST_1,FWD,trainNum,NORMAL)';
436 + entry i_arrOnTrack == 2 / 'railTrack(*_ST_2,FWD,trainNum,NORMAL)';
437 + entry i_arrOnTrack == 3 / 'railTrack(*_ST_3,FWD,trainNum,NORMAL)';
438 + //...
439 + entry / arrTrack = i_arrOnTrack;
440 + };
441 +
442 + // Region for handling cleanup-functionalities such as above
443 + region Cleanup:
444 + initial state Entry
445 + --> cleanup with 'railContact(*_LN_5,0)';
446 +
447 + final state cleanup {
448 + entry debug / 'println("[trainNum][ST-ST] Entered *_LN_5 completely")';
449 + entry / 'railTrackOff(*_LN_4)';
450 + entry / *_LN_4_req[trainNum] = false;
451 + };
452 +
453 + // Region for handling permissions of all needed tracks
454 + region Permissions:
455 + // State for requesting all needed tracks according to destination track and cleanup-Flag
456 + initial state checking {
457 + entry / *_ST_0_req[trainNum] = true;
458 + entry destTrack == 1 | !cleanup / *_ST_1_req[trainNum] = true;
459 + entry destTrack == 2 | !cleanup / *_ST_2_req[trainNum] = true;
460 + entry destTrack == 3 | !cleanup / *_ST_3_req[trainNum] = true;
461 + }
462 + // Transitions for permitted tracks match wished tracks
463 + --> success with destTrack == 1 & *_ST_0_perm == trainNum & *_ST_1_perm == trainNum / i_arrOnTrack = 1
464 + --> success with destTrack == 2 & *_ST_0_perm == trainNum & *_ST_2_perm == trainNum / i_arrOnTrack = 2
465 + --> success with destTrack == 3 & *_ST_0_perm == trainNum & *_ST_3_perm == trainNum / i_arrOnTrack = 3
466 + // Transitions for permitted tracks don't match wished tracks
467 + --> success with *_ST_0_perm == trainNum & *_ST_1_perm == trainNum / i_arrOnTrack = 1
468 + --> success with *_ST_0_perm == trainNum & *_ST_2_perm == trainNum / i_arrOnTrack = 2
469 + --> success with *_ST_0_perm == trainNum & *_ST_3_perm == trainNum / i_arrOnTrack = 3
470 + // Transition for not all tracks permitted
471 + --> resolving with *_ST_0_perm == trainNum | *_ST_3_perm == trainNum | *_ST_2_perm == trainNum | *_ST_1_perm == trainNum;
472 +
473 + // State for waiting an additional tick
474 + state resolving
475 + --> resolving1;
476 +
477 + // State for releasing track requests
478 + state resolving1 {
479 + entry / *_ST_0_req[trainNum] = false;
480 + entry / *_ST_1_req[trainNum] = false;
481 + entry / *_ST_2_req[trainNum] = false;
482 + entry / *_ST_3_req[trainNum] = false;
483 + }
484 + // Transition for trying the requesting again
485 + --> checking;
486 +
487 + // State for waiting an additional tick
488 + state success
489 + --> success1;
490 +
491 + // State for releasing not used track requests
492 + final state success1 {
493 + entry !(i_arrOnTrack == 1) / *_ST_1_req[trainNum] = false;
494 + entry !(i_arrOnTrack == 2) / *_ST_2_req[trainNum] = false;
495 + entry !(i_arrOnTrack == 3) / *_ST_3_req[trainNum] = false;
496 + // Settting perm_all_next_segments to true
497 + entry / perm_all_next_segments = true;
498 + };
499 + // Transition to station entry states
500 + }>-> *_LN_5_*_ST;
501 +
502 + // State waiting for station entry
503 + state *_LN_5_*_ST
504 + --> Arr_*_ST with i_arrOnTrack == 1 & 'railContact(*_ST_1,0)'
505 +  --> Arr_*_ST with i_arrOnTrack == 2 & 'railContact(*_ST_2,0)'
506 + --> Arr_*_ST with i_arrOnTrack == 3 & 'railContact(*_ST_3,0)';
507 +
508 + // State for setting tracks, points and signals according to i_arrOnTrack
509 + // and releasing previous track request
510 + state Arr_*_ST {
511 + entry / 'railSignal(*_LN_5, FWD, RED)';
512 + entry / 'railTrackOff(*_LN_5)';
513 + entry / 'railTrack(*_ST_0,FWD,trainNum,SLOW)';
514 + entry i_arrOnTrack == 1 / 'railTrack(*_ST_1,FWD,trainNum,SLOW)';
515 + entry i_arrOnTrack == 2 / 'railTrack(*_ST_2,FWD,trainNum,SLOW)';
516 + entry i_arrOnTrack == 3 / 'railTrack(*_ST_3,FWD,trainNum,SLOW)';
517 + entry / *_LN_5_req[trainNum] = false;
518 +
519 + initial state SlowEntry
520 + --> Slow with i_arrOnTrack == 1 & 'railContact(*_ST_1,0)'
521 + --> Slow with i_arrOnTrack == 2 & 'railContact(*_ST_2,0)'
522 + --> Slow with i_arrOnTrack == 3 & 'railContact(*_ST_3,0)';
523 +
524 + // State for switching off previous track and releasing the request
525 + state Slow {
526 + entry / 'railTrackOff(*_ST_0)';
527 + entry / *_ST_0_req[trainNum] = false;
528 + }
529 + // Transitions to halt state, when train is at second contact of a track segment
530 + --> Halt with i_arrOnTrack == 1 & 'railContact(*_ST_1,1)'
531 + --> Halt with i_arrOnTrack == 2 & 'railContact(*_ST_2,1)'
532 + --> Halt with i_arrOnTrack == 3 & 'railContact(*_ST_3,1)';
533 +
534 +
535 + final state Halt {
536 + // Entry-Actions for braking the train on correct track
537 + entry i_arrOnTrack == 1 / 'railTrackBrake(*_ST_1)';
538 + entry i_arrOnTrack == 2 / 'railTrackBrake(*_ST_2)';
539 + entry i_arrOnTrack == 3 / 'railTrackBrake(*_ST_3)';
540 + // Entry-Actions for waiting for timer on correct track
541 + entry i_arrOnTrack == 1 / 'railArrival(trainNum, *_ST_1)';
542 + entry i_arrOnTrack == 2 / 'railArrival(trainNum, *_ST_2)';
543 + entry i_arrOnTrack == 3 / 'railArrival(trainNum, *_ST_3)';
544 + };
545 + }
546 + >-> done;
547 +
548 + state done
549 + // Transition to final state, if timer is ready
550 + --> reallyDone with 'railDeparture(trainNum)';
551 +
552 + final state reallyDone;
553 +}
554 +{{/code}}
555 +
556 +== Dynamic Controller ==
557 +
558 +The dynamic controller handles all 11 Trains. For each train the controller has a region with a referenced dynamic scheduling. Thereby each train can follow an arbitrary schedule. Additionally the controller has a region for stable cleanup function.
559 +
560 +{{code linenumbers="true" language="sct"}}
561 +//
562 +// Dynamic controller for 11 trains
563 +//
564 +scchart DynamicController11 {
565 + // Set of request variables for all tracks for 11 trains
566 + bool IC_JCT_0_req[11], IC_LN_0_req[11], IC_LN_1_req[11], IC_LN_2_req[11];
567 + bool IC_LN_3_req[11], IC_LN_4_req[11], IC_LN_5_req[11], IC_ST_0_req[11];
568 + bool IC_ST_1_req[11], IC_ST_2_req[11], IC_ST_3_req[11], IC_ST_4_req[11];
569 + bool IO_LN_0_req[11], IO_LN_1_req[11], IO_LN_2_req[11], KH_LN_0_req[11];
570 + bool KH_LN_1_req[11], KH_LN_2_req[11], KH_LN_3_req[11], KH_LN_4_req[11];
571 + bool KH_LN_5_req[11], KH_LN_6_req[11], KH_LN_7_req[11], KH_LN_8_req[11];
572 + bool KH_ST_0_req[11], KH_ST_1_req[11], KH_ST_2_req[11], KH_ST_3_req[11];
573 + bool KH_ST_4_req[11], KH_ST_5_req[11], KH_ST_6_req[11], KIO_LN_0_req[11];
574 + bool KIO_LN_1_req[11], OC_JCT_0_req[11], OC_LN_0_req[11], OC_LN_1_req[11];
575 + bool OC_LN_2_req[11], OC_LN_3_req[11], OC_LN_4_req[11], OC_LN_5_req[11];
576 + bool OC_ST_0_req[11], OC_ST_1_req[11], OC_ST_2_req[11], OC_ST_3_req[11];
577 + bool OC_ST_4_req[11], OI_LN_0_req[11], OI_LN_1_req[11], OI_LN_2_req[11];
578 + bool req_in_R , req_out_R , req_in_L , req_out_L;
579 +  
580 + // Set of permission variables for all tracks
581 + int IC_JCT_0_perm, IC_LN_0_perm, IC_LN_1_perm, IC_LN_2_perm;
582 + int IC_LN_3_perm, IC_LN_4_perm, IC_LN_5_perm, IC_ST_0_perm;
583 + int IC_ST_1_perm, IC_ST_2_perm, IC_ST_3_perm, IC_ST_4_perm;
584 + int IO_LN_0_perm, IO_LN_1_perm, IO_LN_2_perm, KH_LN_0_perm;
585 + int KH_LN_1_perm, KH_LN_2_perm, KH_LN_3_perm, KH_LN_4_perm;
586 + int KH_LN_5_perm, KH_LN_6_perm, KH_LN_7_perm, KH_LN_8_perm;
587 + int KH_ST_0_perm, KH_ST_1_perm, KH_ST_2_perm, KH_ST_3_perm;
588 + int KH_ST_4_perm, KH_ST_5_perm, KH_ST_6_perm, KIO_LN_0_perm;
589 + int KIO_LN_1_perm, OC_JCT_0_perm, OC_LN_0_perm, OC_LN_1_perm;
590 + int OC_LN_2_perm, OC_LN_3_perm, OC_LN_4_perm, OC_LN_5_perm;
591 + int OC_ST_0_perm, OC_ST_1_perm, OC_ST_2_perm, OC_ST_3_perm;
592 + int OC_ST_4_perm, OI_LN_0_perm, OI_LN_1_perm, OI_LN_2_perm;
593 + bool perm_in_R , perm_out_R , perm_in_L , perm_out_L;
594 +
595 + // Flags needed for stable cleanup function
596 + //----------------------------------------------------------------------------------------
597 + // Flags for trains are ready and back at home
598 + bool trainDone[11];
599 + // Flags for trains are on their home circle
600 + bool circle[11];
601 + // Flag for trains 0 to 7 are back at home and trains 8 to 10 are on their home circle
602 +  bool mainDone;
603 + // Flag for all trains are back at home
604 +  bool allDone;
605 + //----------------------------------------------------------------------------------------
606 +
607 + // Debug flag for additional output
608 +  bool debug;
609 + // Cleanup flag for halting the trains at home station tracks
610 +  bool cleanup;
611 + // Variable, that gives the number of trains to C-Controller for stability check
612 +  int trainCount;
613 + // Constant needed for binding to referenced SCCharts
614 + const bool c_TRUE = true;
615 +
616 +
617 + // State initializing the trains on corresponding tracks
618 + initial state init references initRailway11Trains
619 + >-> run;
620 +
621 +
622 + // State handling the train schedules
623 +  state run {
624 +
625 +  // Region handling the cleanup function
626 + region Abort:
627 + initial state notDone
628 +  // Transition when trains 0 to 7 are back at home and trains 8 to 10 are on their home circle
629 + --> mainDone with trainDone[0] & trainDone[1] & trainDone[2]
630 + & trainDone[3] & trainDone[4] & trainDone[5]
631 + & trainDone[6] & trainDone[7]
632 + & circle[8] & circle[9] & circle[10];
633 +
634 + // State for allowing trains 8 to 10 to halt on the home track
635 + state mainDone
636 + --> quitCircle with / mainDone = true;
637 +
638 + // State waiting for trains 8 to 10 halt and setting flag for terminate the controller
639 + state quitCircle
640 + --> done with trainDone[8] & trainDone[9] & trainDone[10] / allDone = true;
641 +
642 + final state done;
643 +
644 + // Regions handling the mutual exclusion on the track segments
645 + region Mutexes:
646 + initial state Mutexes references mutexRailway11Trains
647 + // terminates with a strong abort when all trains are at home
648 + o-> done with allDone;
649 +
650 + final state done;
651 +
652 + region KH_Mutexes:
653 + initial state KH_Mutexes references kh_mutex
654 +  // terminates with a strong abort when all trains are at home
655 + o-> done with allDone;
656 +
657 + final state done;
658 +
659 + // Regions that contain the dynamic schedules for trains 0 to 7
660 + //--------------------------------------------------------------------------------------
661 +
662 + // Region with the dynamic schedule for train 0
663 + region Train0:
664 + initial state Train0 {
665 + @alterHostcode
666 + const int trainNum = 0
667 +  // Variable for saving the home track
668 + int homeTrack = 1;
669 + // Variable for saving the home station
670 + int homeStation = 1;
671 +
672 + // State referenced to dynamic scheduling
673 + initial state drive
674 + references DynamicSheduling
675 +  // Binding circleDone to true for halting at home if cleanup is set
676 + bind circleDone to c_TRUE
677 +  // Set a flag and a light for train at home
678 + >-> done with / 'railLight(10,1)'; trainDone[0] = true;
679 +
680 + final state done;
681 + }
682 + >-> done;
683 +
684 + final state done;
685 +
686 + // ... (other regions for trains 1 to 7 such as before)
687 +
688 +  //--------------------------------------------------------------------------------------
689 +
690 +
691 +
692 +
693 + // Regions that contain the dynamic schedules for trains 8 to 10
694 + // Differences to regions above is that the trains 8 to 10 circle at home station circle
695 + // until trains 0 to 7 are back at home station and track
696 + // For this circleDone binds mainDone flag
697 + //--------------------------------------------------------------------------------------
698 +
699 + // Region with the dynamic schedule for train 8
700 + region Train8:
701 + initial state Train8 {
702 + @alterHostcode
703 + const int trainNum = 8
704 + // Variable for saving the home track
705 +  int homeTrack = 5;
706 + // Variable for saving the home station
707 + int homeStation = 1;
708 +
709 + // State referenced to dynamic scheduling
710 + initial state drive
711 + references DynamicSheduling
712 +  // Binding circleDone to mainDone for halting at home only if cleanup is set
713 + // and trains 0 to 7 are at home and 8 to 10 on home circle
714 + bind circleDone to mainDone
715 + // Set a flag and a light for train at home 
716 + >-> done with / 'railLight(6,1)'; trainDone[8] = true;
717 +
718 + final state done;
719 + }
720 + >-> done;
721 +
722 + final state done;
723 +
724 + // ... (other regions for trains 9 and 10 such as before)
725 + //--------------------------------------------------------------------------------------
726 +
727 + }
728 + >-> flash;
729 +
730 + // State for flashing the lights at the end of the controller
731 + state flash
732 + --> done with / 'railFlashLight()';
733 +
734 + final state done;
735 +}
736 +{{/code}}
Confluence.Code.ConfluencePageClass[0]
Id
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1 -9471007
1 +9471750
URL
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1 -https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/SS14Railway/pages/9471007/Basic design
1 +https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/SS14Railway/pages/9471750/Basic design