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Changes for page Basic design

Last modified by nfl on 2025/01/30 12:05
From version 11.1
edited by sna
on 2014/08/06 03:48
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

Summary

Details

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Content
... ... @@ -34,7 +34,7 @@
34 34  
35 35  == Train controller ==
36 36  
37 -Each train controller is set in a separate region with a referenced state. This state has the following interface
37 +Each train controller is set in a separate region with a referenced state. This state has the following interface:
38 38  
39 39  
40 40  \\\\\\\\
... ... @@ -41,897 +41,696 @@
41 41  
42 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 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.
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 45  
46 -== Station-2-Station controller ==
47 -
48 -Each station-2-station controller realizes the movement from one of the stations (IC,OC,KH) to a second 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.
49 -
50 -The controllers starting from Kicking Horse Pass Station make an assumption of the direction of the train. These are dependent of 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.
51 -
52 -[[image:attach:ICIC.png]]
53 -
54 -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.
55 -Next the train **must** wait for// int railDeparture(int train)// to return 1.
56 -After the waiting has finished the controller can reach a final state and pass the control back to the train controller.
57 -
58 58  === Structure ===
59 59  
60 -----
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;
61 61  
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 + //--------------------------------------------------------------------------------------
62 62  
63 -
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 + };
64 64  
65 -|=(((
66 -{{{input int *_perm;}}}
67 67  
68 -{{{output bool *_req[11];}}}
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 +
69 69  
70 -{{{input int trainNum;}}}
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 + };
71 71  
72 -{{{input int depTrack;}}}
73 73  
74 -{{{input int destTrack;}}}
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}}
75 75  
76 -{{{input bool cleanup;}}}
77 -
78 -{{{input bool debug;}}}
79 -
80 -{{{output int arrTrack;}}}
81 -
82 -{{{int i_arrOnTrack;}}}
83 -
84 -{{{ }}}
85 -
86 -{{{initial state *_ST {}}}
87 -
88 -{{{    entry debug / 'println([trainNum][ST-ST] ... )';}}}
89 -
90 -{{{ }}}
91 -
92 -{{{    initial state waitForPerm {}}}
93 -
94 -{{{        entry / *_ST_4_req[trainNum] = true;}}}
95 -
96 -{{{        entry / *_LN_0_req[trainNum] = true;}}}
97 -
98 -{{{    }}}}
99 -
100 -{{{    --> gotPerm with (*_ST_4_perm == trainNum) & (*_LN_0_perm == trainNum)}}}
101 -
102 -{{{    --> backOff with (*_ST_4_perm == trainNum) | (*_LN_0_perm == trainNum);}}}
103 -
104 -{{{ }}}
105 -
106 -{{{    state backOff}}}
107 -
108 -{{{    --> backOff1;}}}
109 -
110 -{{{ }}}
111 -
112 -{{{    state backOff1 {}}}
113 -
114 -{{{entry / *_ST_4_req[trainNum] = false;}}}
115 -
116 -{{{entry / *_LN_0_req[trainNum] = false;}}}
117 -
118 -{{{    }}}}
119 -
120 -{{{    --> waitForPerm;}}}
121 -
122 -{{{ }}}
123 -
124 -{{{final state gotPerm;}}}
125 -
126 -{{{}}}}
127 -
128 -{{{>-> Dep_*_ST;}}}
129 -
130 -{{{ }}}
131 -
132 -{{{state Dep_IC_ST {}}}
133 -
134 -{{{    entry / 'railPoint(*,STRAIGHT)';}}}
135 -
136 -{{{    entry / 'railSignal(*_LN_0, FWD, RED)';}}}
137 -
138 -{{{    entry / 'railTrack(*_LN_0,FWD,trainNum,NORMAL)';}}}
139 -
140 -{{{    entry / 'railTrack(*_ST_4,FWD,trainNum,NORMAL)';}}}
141 -
142 -{{{    entry depTrack == 1 / 'railSignal(*_ST_1, FWD, GREEN)';}}}
143 -
144 -{{{    entry depTrack == 2 / 'railSignal(*_ST_2, FWD, GREEN)';}}}
145 -
146 -{{{    entry depTrack == 3 / 'railSignal(*_ST_3, FWD, GREEN)';}}}
147 -
148 -{{{    ..........}}}
149 -
150 -{{{  } --> *_LN_0 with 'railContact(*_LN_0,0)';}}}
151 -
152 -{{{ }}}
153 -
154 -{{{  state *_LN_0 {}}}
155 -
156 -{{{    entry / 'println("[trainNum][ST-ST] Entering *_LN_0")';}}}
157 -
158 -{{{    entry debug / 'println("[trainNum][ST-ST] Requesting permission for *_LN_1")';}}}
159 -
160 -{{{    entry depTrack == 1 / 'railSignal(*_ST_1, FWD, RED)';}}}
161 -
162 -{{{    entry depTrack == 2 / 'railSignal(*_ST_2, FWD, RED)';}}}
163 -
164 -{{{    entry depTrack == 3 / 'railSignal(*_ST_3, FWD, RED)';}}}
165 -
166 -{{{    entry / *_LN_1_req[trainNum] = true;}}}
167 -
168 -{{{ }}}
169 -
170 -{{{    region Travel:}}}
171 -
172 -{{{      initial state Entry}}}
173 -
174 -{{{      --> Continue with 'railContact(*_LN_0,0)' & (*_LN_1_perm == trainNum)}}}
175 -
176 -{{{      --> Slowdown with 'railContact(*_LN_0,0)';}}}
177 -
178 -{{{ }}}
179 -
180 -{{{      state Slowdown {}}}
181 -
182 -{{{        entry debug / 'println("[trainNum][ST-ST] Slowing down on *_LN_0")';}}}
183 -
184 -{{{        entry / 'railTrack(*_LN_0,FWD,trainNum,CAUTION)';}}}
185 -
186 -{{{      }}}}
187 -
188 -{{{      --> Waiting with 'railContact(*_LN_0,1)'}}}
189 -
190 -{{{      --> Continue with *_LN_1_perm == trainNum;}}}
191 -
192 -{{{ }}}
193 -
194 -{{{      state Waiting {}}}
195 -
196 -{{{        entry debug / 'println("[trainNum][ST-ST] Stopping on *_LN_0")';}}}
197 -
198 -{{{        entry / 'railTrackBrake(*_LN_0)';}}}
199 -
200 -{{{      }}}}
201 -
202 -{{{      --> Continue with *_LN_1_perm == trainNum;}}}
203 -
204 -{{{ }}}
205 -
206 -{{{      final state Continue {}}}
207 -
208 -{{{        entry debug / 'println("[trainNum][ST-ST] Continuing on *_LN_0")';}}}
209 -
210 -{{{        entry / 'railSignal(*_LN_0,FWD,GREEN)';}}}
211 -
212 -{{{        entry / 'railTrack(*_LN_0,FWD,trainNum,NORMAL)';}}}
213 -
214 -{{{        entry / 'railTrack(*_LN_1,FWD,trainNum,NORMAL)';}}}
215 -
216 -{{{        entry / 'railSignal(*_LN_1, FWD, RED)';}}}
217 -
218 -{{{      };}}}
219 -
220 -{{{ }}}
221 -
222 -{{{    region Cleanup:}}}
223 -
224 -{{{      initial state Entry}}}
225 -
226 -{{{      --> cleanup with 'railContact(*_LN_0,0)';}}}
227 -
228 -{{{ }}}
229 -
230 -{{{      final state cleanup {}}}
231 -
232 -{{{      entry debug / 'println("[trainNum][ST-ST] Entered *_LN_0 completely")';}}}
233 -
234 -{{{      entry / 'railTrackOff(*_ST_4)';}}}
235 -
236 -{{{      entry / *_ST_4_req[trainNum] = false;}}}
237 -
238 -{{{      };}}}
239 -
240 -{{{  }>-> *_LN_0_*_LN_1;}}}
241 -
242 -{{{ }}}
243 -
244 -{{{  state IC_LN_0_IC_LN_1}}}
245 -
246 -{{{  --> IC_LN_1 with 'railContact(IC_LN_1,0)';}}}
247 -
248 -{{{ }}}
249 -
250 -{{{// ...................}}}
251 -
252 -{{{// Set of track segment controlling states such as before}}}
253 -
254 -{{{// ...................}}}
255 -
256 -{{{ }}}
257 -
258 -{{{state *_LN_5 {}}}
259 -
260 -{{{    int perm_all_next_segments = false;}}}
261 -
262 -{{{    entry / 'println("[trainNum][ST-ST] Entering *_LN_5")';}}}
263 -
264 -{{{    entry / 'railSignal(*_LN_4, FWD, RED)';}}}
265 -
266 -{{{ }}}
267 -
268 -{{{    region Travel:}}}
269 -
270 -{{{      initial state Entry}}}
271 -
272 -{{{      --> Continue with 'railContact(*_LN_5,0)' & perm_all_next_segments}}}
273 -
274 -{{{      --> Slowdown with 'railContact(*_LN_5,0)';}}}
275 -
276 -{{{ }}}
277 -
278 -{{{      state Slowdown {}}}
279 -
280 -{{{        entry debug / 'println("[trainNum][ST-ST] Slowing down on *_LN_5")';}}}
281 -
282 -{{{        entry / 'railTrack(*_LN_5,FWD,trainNum,CAUTION)';}}}
283 -
284 -{{{      }}}}
285 -
286 -{{{      --> Waiting with 'railContact(*_LN_5,1)'}}}
287 -
288 -{{{      --> Continue with perm_all_next_segments;}}}
289 -
290 -{{{ }}}
291 -
292 -{{{      state Waiting {}}}
293 -
294 -{{{        entry debug / 'println("[trainNum][ST-ST] Stopping on *_LN_5")';}}}
295 -
296 -{{{        entry / 'railTrackBrake(*_LN_5)';}}}
297 -
298 -{{{      }}}}
299 -
300 -{{{      --> Continue with perm_all_next_segments;}}}
301 -
302 -{{{ }}}
303 -
304 -{{{      final state Continue {}}}
305 -
306 -{{{        entry debug / 'println("[trainNum][ST-ST] Continuing on *_LN_5")';        }}}
307 -
308 -{{{        entry i_arrOnTrack == 1 / 'railTrack(*_ST_1,FWD,trainNum,NORMAL)';}}}
309 -
310 -{{{        entry i_arrOnTrack == 2 / 'railTrack(*_ST_2,FWD,trainNum,NORMAL)';}}}
311 -
312 -{{{        entry i_arrOnTrack == 3 / 'railTrack(*_ST_3,FWD,trainNum,NORMAL)';}}}
313 -
314 -{{{        ----------}}}
315 -
316 -{{{        entry / arrTrack = i_arrOnTrack;}}}
317 -
318 -{{{      };}}}
319 -
320 -{{{ }}}
321 -
322 -{{{    region Cleanup:}}}
323 -
324 -{{{      initial state Entry}}}
325 -
326 -{{{      --> cleanup with 'railContact(*_LN_5,0)';}}}
327 -
328 -{{{ }}}
329 -
330 -{{{      final state cleanup {}}}
331 -
332 -{{{        entry debug / 'println("[trainNum][ST-ST] Entered *_LN_5 completely")';}}}
333 -
334 -{{{        entry / 'railTrackOff(*_LN_4)';}}}
335 -
336 -{{{        entry / *_LN_4_req[trainNum] = false;}}}
337 -
338 -{{{      };}}}
339 -
340 -{{{ }}}
341 -
342 -{{{    region Permissions:}}}
343 -
344 -{{{      initial state checking {}}}
345 -
346 -{{{        entry / *_ST_0_req[trainNum] = true;}}}
347 -
348 -{{{        entry destTrack == 1 | !cleanup / *_ST_1_req[trainNum] = true;}}}
349 -
350 -{{{        entry destTrack == 2 | !cleanup / *_ST_2_req[trainNum] = true;}}}
351 -
352 -{{{        entry destTrack == 3 | !cleanup / *_ST_3_req[trainNum] = true;}}}
353 -
354 -{{{      }}}}
355 -
356 -\\
357 -
358 -{{{      --> success with destTrack == 1 & *_ST_0_perm == trainNum & *_ST_1_perm == trainNum / i_arrOnTrack = 1}}}
359 -
360 -\\
361 -
362 -{{{      --> success with destTrack == 2 & *_ST_0_perm == trainNum & *_ST_2_perm == trainNum / i_arrOnTrack = 2}}}
363 -
364 -\\
365 -
366 -{{{      --> success with destTrack == 3 & *_ST_0_perm == trainNum & *_ST_3_perm == trainNum / i_arrOnTrack = 3}}}
367 -
368 -{{{      --> success with *_ST_0_perm == trainNum & *_ST_1_perm == trainNum / i_arrOnTrack = 1}}}
369 -
370 -{{{      --> success with *_ST_0_perm == trainNum & *_ST_2_perm == trainNum / i_arrOnTrack = 2}}}
371 -
372 -{{{      --> success with *_ST_0_perm == trainNum & *_ST_3_perm == trainNum / i_arrOnTrack = 3}}}
373 -
374 -
375 -\\
376 -
377 -{{{      --> resolving with *_ST_0_perm == trainNum | *_ST_3_perm == trainNum | *_ST_2_perm == trainNum | *_ST_1_perm == trainNum;}}}
378 -
379 -{{{ }}}
380 -
381 -{{{      state resolving}}}
382 -
383 -{{{      --> resolving1;}}}
384 -
385 -{{{ }}}
386 -
387 -{{{      state resolving1 {}}}
388 -
389 -{{{        entry / *_ST_0_req[trainNum] = false;}}}
390 -
391 -{{{        entry / *_ST_1_req[trainNum] = false;}}}
392 -
393 -{{{        entry / *_ST_2_req[trainNum] = false;}}}
394 -
395 -{{{        entry / *_ST_3_req[trainNum] = false;}}}
396 -
397 -{{{      }}}}
398 -
399 -{{{      --> checking;}}}
400 -
401 -{{{ }}}
402 -
403 -{{{      state success}}}
404 -
405 -{{{      --> success1;}}}
406 -
407 -{{{ }}}
408 -
409 -{{{      final state success1 {}}}
410 -
411 -{{{        entry !(i_arrOnTrack == 1) / *_ST_1_req[trainNum] = false;      }}}
412 -
413 -{{{        entry !(i_arrOnTrack == 2) / *_ST_2_req[trainNum] = false;}}}
414 -
415 -{{{        entry !(i_arrOnTrack == 3) / *_ST_3_req[trainNum] = false;}}}
416 -
417 -{{{        entry / perm_all_next_segments = true;}}}
418 -
419 -{{{      };}}}
420 -
421 -{{{  }>-> *_LN_5_*_ST;}}}
422 -
423 -{{{ }}}
424 -
425 -{{{  state *_LN_5_*_ST}}}
426 -
427 -{{{  --> Arr_*_ST with i_arrOnTrack == 1 & 'railContact(*_ST_1,0)'}}}
428 -
429 -{{{  --> Arr_*_ST with i_arrOnTrack == 2 & 'railContact(*_ST_2,0)'}}}
430 -
431 -{{{  --> Arr_*_ST with i_arrOnTrack == 3 & 'railContact(*_ST_3,0)';}}}
432 -
433 -{{{ }}}
434 -
435 -{{{  state Arr_*_ST {}}}
436 -
437 -{{{    entry / 'railSignal(*_LN_5, FWD, RED)';}}}
438 -
439 -{{{    entry / 'railTrackOff(*C_LN_5)';}}}
440 -
441 -{{{    entry / 'railTrack(*_ST_0,FWD,trainNum,SLOW)';}}}
442 -
443 -{{{    entry i_arrOnTrack == 1 / 'railTrack(*_ST_1,FWD,trainNum,SLOW)';}}}
444 -
445 -{{{    entry i_arrOnTrack == 2 / 'railTrack(*_ST_2,FWD,trainNum,SLOW)';}}}
446 -
447 -{{{    entry i_arrOnTrack == 3 / 'railTrack(*_ST_3,FWD,trainNum,SLOW)';}}}
448 -
449 -{{{    entry / *_LN_5_req[trainNum] = false;}}}
450 -
451 -{{{ }}}
452 -
453 -{{{    initial state SlowEntry}}}
454 -
455 -{{{    --> Slow with i_arrOnTrack == 1 & 'railContact(*_ST_1,0)'}}}
456 -
457 -{{{    --> Slow with i_arrOnTrack == 2 & 'railContact(*_ST_2,0)'}}}
458 -
459 -{{{    --> Slow with i_arrOnTrack == 3 & 'railContact(*_ST_3,0)';}}}
460 -
461 -{{{ }}}
462 -
463 -{{{    state Slow {}}}
464 -
465 -{{{      entry / 'railTrackOff(*_ST_0)';}}}
466 -
467 -{{{      entry / *_ST_0_req[trainNum] = false;}}}
468 -
469 -{{{    }}}}
470 -
471 -{{{    --> Halt with i_arrOnTrack == 1 & 'railContact(*_ST_1,1)'}}}
472 -
473 -{{{    --> Halt with i_arrOnTrack == 2 & 'railContact(*_ST_2,1)'}}}
474 -
475 -{{{    --> Halt with i_arrOnTrack == 3 & 'railContact(*_ST_3,1)';}}}
476 -
477 -{{{ }}}
478 -
479 -{{{    final state Halt {}}}
480 -
481 -{{{      entry i_arrOnTrack == 1 / 'railTrackBrake(*_ST_1)';}}}
482 -
483 -{{{      entry i_arrOnTrack == 2 / 'railTrackBrake(*_ST_2)';}}}
484 -
485 -{{{      entry i_arrOnTrack == 3 / 'railTrackBrake(*_ST_3)';}}}
486 -
487 -{{{      entry i_arrOnTrack == 1 / 'railArrival(trainNum, *_ST_1)';}}}
488 -
489 -{{{      entry i_arrOnTrack == 2 / 'railArrival(trainNum, *_ST_2)';}}}
490 -
491 -{{{      entry i_arrOnTrack == 3 / 'railArrival(trainNum, *_ST_3)';}}}
492 -
493 -{{{    };}}}
494 -
495 -{{{  }}}}
496 -
497 -{{{  >-> done;}}}
498 -
499 -{{{ }}}
500 -
501 -{{{  state done}}}
502 -
503 -{{{  --> reallyDone with 'railDeparture(trainNum)';}}}
504 -
505 -{{{ }}}
506 -
507 -{{{  final state reallyDone;}}}
508 -)))|=(((
509 -~/~/ All permissiions variables
510 -
511 -~/~/ All request variables
512 -
513 -~/~/ Train number
514 -
515 -~/~/ Departure track number
516 -
517 -~/~/ Destination track number
518 -
519 -~/~/ Cleanup flag for selecting the track of destination
520 -
521 -~/~/ Debug flag for additional output
522 -
523 -~/~/ Arrival track
524 -
525 -~/~/ Variable (arrival track) for selecting correct station elements
526 -
527 527  
528 528  
529 -~/~/ Handles departing from a station
233 +== Station-2-Station controller ==
530 530  
531 -~/~/ Additional output for debugging
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.
532 532  
533 -
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.
534 534  
535 -~/~/ State, which set requests for needed tracks
239 +[[image:attach:ICIC.png]]
536 536  
537 -
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.
538 538  
539 -
245 +=== Structure  ===
540 540  
541 -
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 " {
542 542  
543 -~/~/ Transition for received **all** needed permissions
253 + // Set of permission variables for required tracks
254 + input int *_perm;
544 544  
545 -~/~/ Tranisition for received **some** needed permissions
256 + // Set of request variables for required tracks for 11 trains
257 + output bool *_req[11];
546 546  
547 -
259 + // Train number
260 + input int trainNum;
548 548  
549 -~/~/ State for waiting an additional Tick
262 + // Number of the departure track in a station
263 + input int depTrack;
550 550  
551 -
265 + // Number of the destination track in a station
266 + input int destTrack;
552 552  
553 -
268 + // Cleanup flag for selecting the destination track
269 + input bool cleanup;
554 554  
555 -~/~/ State, which releases the requests for needed tracks
271 + // Debug flag for additional output
272 + input bool debug;
556 556  
557 -
274 + // Arrival track
275 + output int arrTrack;
558 558  
277 + // Variable with value for arrTrack for selecting correct station elements
278 + int i_arrOnTrack;
559 559  
560 -
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] ... )';
561 561  
562 -
563 -~/~/ Transition to trying the requesting again
564 -
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);
565 565  
566 -
295 + // State for waiting an additional tick when not all permissions are received
296 + state backOff
297 + --> backOff1;
567 567  
568 -
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;
569 569  
570 -
571 -~/~/ Transition to the departure state
572 -
307 + final state gotPerm;
308 + }
309 + // Transition to the departure state
310 + >-> Dep_*_ST;
573 573  
574 -
575 -~/~/ State, which handles the train departure
576 -
577 -~/~/ Set of entry-Actions to set tracks, points and signals according to depTrack
578 -
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)';
579 579  
580 580  
581 581  
328 + // ----------------------------------------------------------------------------------------------------------------
329 + // Set of track segment controlling states such as follows
330 + // ----------------------------------------------------------------------------------------------------------------
582 582  
583 -
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;
584 584  
585 -
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)';
586 586  
587 -
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;
588 588  
589 -
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;
590 590  
591 -
592 -~/~/ Transition to next track segment, if contact is readed
593 -
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 + };
594 594  
595 -
596 -~/~/ State for handling the train on track *_LN_0
597 -
598 -~/~/ Outputs for debugging
599 -
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)';
600 600  
601 -
602 -~/~/ Entry-Actions to set the previous signals to RED
603 -
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;
604 604  
605 -
398 + state *_LN_0_*_LN_1
399 + // Transition to next track segment, if contact is triggered
400 + --> *_LN_1 with 'railContact(*_LN_1,0)';
606 606  
402 + // ----------------------------------------------------------------------------------------------------------------
607 607  
608 -~/~/ Requesting the next segment
609 609  
610 -
611 611  
612 -~/~/ Region for handling train driving
613 -
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)';
614 614  
615 -
616 -~/~/ Transition to continuing state, if permitted
617 -
618 -~/~/ Transition to slowing down else
619 -
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)';
620 620  
621 -
622 -~/~/ State for slowing down
623 -
624 -~/~/ Addtitional output for debugging
625 -
626 -~/~/ Entry-Action for slowing down the train
627 -
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;
628 628  
629 -
630 -~/~/ Transition to waiting state
631 -
632 -~/~/ Transition to continuing state, if permitted
633 -
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;
634 634  
635 -
636 -~/~/ Waiting state
637 -
638 -~/~/ Addtitional output for debugging
639 -
640 -~/~/ Entry-Action for stopping the train
641 -
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 + };
642 642  
643 -
644 -~/~/ Tranisition to continuing state
645 -
442 + // Region for handling cleanup-functionalities such as above
443 + region Cleanup:
444 + initial state Entry
445 + --> cleanup with 'railContact(*_LN_5,0)';
646 646  
647 -
648 -~/~/ State to continuing driving on the track
649 -
650 -~/~/ Addtitional output for debugging
651 -
652 -~/~/ Entry-Actions to set tracks and signals for driving
653 -
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 + };
654 654  
655 -
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;
656 656  
657 -
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;
658 658  
487 + // State for waiting an additional tick
488 + state success
489 + --> success1;
659 659  
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;
660 660  
661 -
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)';
662 662  
663 -
664 -~/~/ Region for handling cleanup-functionalities
665 -
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;
666 666  
667 -
668 -~/~/ Transition to cleanup state
669 -
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)';
670 670  
671 -
672 -~/~/ Cleanup state
673 -
674 -~/~/ Addtitional output for debugging
675 -
676 -~/~/ Entry-Action to switching off the previous track
677 -
678 -~/~/ Entry-Action to release the previous track
679 -
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)';
680 680  
681 -
682 -~/~/ Transition to transitional state
683 -
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;
684 684  
685 -
686 -~/~/ Transitional state
687 -
688 -~/~/ Transition to next track segment, if contact is readed
689 -
548 + state done
549 + // Transition to final state, if timer is ready
550 + --> reallyDone with 'railDeparture(trainNum)';
690 690  
552 + final state reallyDone;
553 +}
554 +{{/code}}
691 691  
692 -
556 +== Dynamic Controller ==
693 693  
694 -
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.
695 695  
696 -
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;
697 697  
698 -
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 + //----------------------------------------------------------------------------------------
699 699  
700 -~/~/ State for entering a station
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;
701 701  
702 -~/~/ Variable for checking all needed permissions
703 -
704 -~/~/ Output
705 -
706 -~/~/ Setting signal to RED
707 -
708 708  
617 + // State initializing the trains on corresponding tracks
618 + initial state init references initRailway11Trains
619 + >-> run;
709 709  
710 -~/~/ Region for handling train driving
621 +
622 + // State handling the train schedules
623 +  state run {
711 711  
712 -
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;
713 713  
714 -~/~/ Transition to continuing state, if permitted
715 -
716 -~/~/ Transition to slowing down else
717 -
659 + // Regions that contain the dynamic schedules for trains 0 to 7
660 + //--------------------------------------------------------------------------------------
718 718  
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;
719 719  
720 -~/~/ State for slowing down
686 + // ... (other regions for trains 1 to 7 such as before)
721 721  
722 -~/~/ Addtitional output for debugging
723 -
724 -~/~/ Entry-Action for slowing down the train
725 -
688 +  //--------------------------------------------------------------------------------------
726 726  
727 727  
728 -~/~/ Transition to waiting state
729 729  
730 -~/~/ Transition to continuing state, if permitted
731 731  
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 + //--------------------------------------------------------------------------------------
732 732  
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;
733 733  
734 -~/~/ Waiting state
724 + // ... (other regions for trains 9 and 10 such as before)
725 + //--------------------------------------------------------------------------------------
735 735  
736 -~/~/ Addtitional output for debugging
737 -
738 -~/~/ Entry-Action for stopping the train
739 -
740 -
741 -
742 -~/~/ Tranisition to continuing state
743 -
744 -
745 -
746 -~/~/ State to continuing driving on the track
747 -
748 -~/~/ Addtitional output for debugging
749 -
750 -~/~/ Set of entry-Actions for setting tracks, points and signals according to i_arrOnTrack
751 -
752 -
753 -
754 -
755 -
756 -
757 -
758 -~/~/ Setting the arrival track (output)
759 -
760 -
761 -
762 -
763 -
764 -~/~/ Region for handling cleanup-functionalities
765 -
766 -
767 -
768 -~/~/ Transition to cleanup state
769 -
770 -
771 -
772 -~/~/ Cleanup state
773 -
774 -~/~/ Addtitional output for debugging
775 -
776 -~/~/ Entry-Action to switching off the previous tracks
777 -
778 -~/~/ Entry-Action to release the previous tracks
779 -
780 -
781 -
782 -
783 -
784 -~/~/ Region for handling permissions of all needed tracks
785 -
786 -~/~/ State for requesting all needed tracks according to destination track and cleanup-Flag
787 -
788 -
789 -
790 -
791 -
792 -
793 -
794 -
795 -
796 -
797 -
798 -~/~/ Transitions for permitted tracks match wished tracks
799 -
800 -
801 -
802 -
803 -
804 -~/~/ Transitions for permitted tracks don't match wished tracks
805 -
806 -
807 -
808 -
809 -
810 -~/~/ Transition for not all tracks permitted
811 -
812 -
813 -
814 -~/~/ State for waiting an additional tick
815 -
816 -
817 -
818 -
819 -
820 -~/~/ State for releasing track requests
821 -
822 -
823 -
824 -
825 -
826 -
827 -
828 -
829 -
830 -
831 -
832 -~/~/ Transition for trying the requesting again
833 -
834 -
835 -
836 -~/~/ State for waiting an additional tick
837 -
838 -
839 -
840 -
841 -
842 -~/~/ State for releasing not used track requests and
843 -
844 -
845 -
846 -
847 -
848 -
849 -
850 -~/~/ Settting perm_all_next_segments to true
851 -
852 -
853 -
854 -~/~/ Transition to station entry states
855 -
856 -
857 -
858 -~/~/ State waiting for station entry
859 -
860 -
861 -
862 -
863 -
864 -
865 -
866 -
867 -
868 -~/~/ State for setting tracks, points and signals according to i_arrOnTrack
869 -
870 -~/~/ and releasing previous track request
871 -
872 -
873 -
874 -
875 -
876 -
877 -
878 -
879 -
880 -
881 -
882 -
883 -
884 -
885 -
886 -~/~/ State for slowing down, if train completely on track
887 -
888 -
889 -
890 -
891 -
892 -
893 -
894 -
895 -
896 -~/~/ State for switching off previous track and releasing the request
897 -
898 -
899 -
900 -
901 -
902 -
903 -
904 -~/~/ Transitions to halt states, if train at second contact of a track
905 -
906 -
907 -
908 -
909 -
910 -
911 -
912 -
913 -
914 -~/~/ Entry-Actions for braking the train on correct track
915 -
916 -
917 -
918 -
919 -
920 -~/~/ Entry-Actions for waiting for timer on correct track
921 -
922 -
923 -
924 -
925 -
926 -
927 -
928 -
929 -
930 -
931 -
932 -
933 -
934 -
935 -
936 -~/~/ Transition to final state, if timer is ready
937 -)))
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
... ... @@ -1,1 +1,1 @@
1 -9471640
1 +9471750
URL
... ... @@ -1,1 +1,1 @@
1 -https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/SS14Railway/pages/9471640/Basic design
1 +https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/SS14Railway/pages/9471750/Basic design