Changes for page Basic design

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  • DynamicScheduling.png
  • ICIC.png
  • Mutex.png
  • Mutex_KH.png
  • T2A3.sct
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  • Confluence.Code.ConfluencePageClass[0]

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	1	+SS14Railway.Railway Project (summer term 2014).Documentation.SCChart Controller.WebHome

Author

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1		-XWiki.sna
	1	+XWiki.nfl

Content

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43	43
44	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	+=== 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	+
46	46	== Station-2-Station controller ==
47	47
48	48	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.
...	...	@@ -138,9 +138,9 @@
138	138
139	139
140	140
141		- // .....................................................................................
	328	+ // ----------------------------------------------------------------------------------------------------------------
142	142	// Set of track segment controlling states such as follows
143		- // .....................................................................................
	330	+ // ----------------------------------------------------------------------------------------------------------------
144	144
145	145	// Transition to next track segment, if contact is triggered
146	146	state *_LN_0 {
...	...	@@ -212,7 +212,7 @@
212	212	// Transition to next track segment, if contact is triggered
213	213	--> *_LN_1 with 'railContact(*_LN_1,0)';
214	214
215		- // ..................................................................................
	402	+ // ----------------------------------------------------------------------------------------------------------------
216	216
217	217
218	218
...	...	@@ -365,3 +365,193 @@
365	365	final state reallyDone;
366	366	}
367	367	{{/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}}
	737	+
	738	+=== Dynamic Scheduling ===
	739	+
	740	+Each train has the same dynamic scheduling. The basic idea are 4 station-states (KH, KHr, IC, OC). Each time a train is one of these states, the next target station is looked up. Depending on the current station there are 4 different travel paths available each leading into in of the 4 station-states. This way the dynamic scheduling can handle every possible schedule for each train.
	741	+
	742	+In addition to the travel paths each station-state has a cleanup-transition. A train can only enter cleanup mode, when he arrived at his target station. Each train has a homestation and a hometrack, which he travels to once cleanup is started. Upon arriving at their hometrack, the train shuts down. Once every train is shut down, cleanup finished and every train is back at his starting position. Every station has one track, which does not allow the train, who wants to travel to that track, to shut down. These are KH_ST_5, IC_ST_1 and OC_ST_3. The trains traveling to these stations have to drive circles at KH_LN, IC_LN or OC_LN. Once these are the only trains driving, they are allowed to shut down too. This way a station can not block trains to drive through this station by shutting down all trains in that station.
	743	+
	744	+[[image:attach:DynamicScheduling.png]]

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	1	+scchart rail {
	2	+ input bool second;
	3	+ input bool contact0,contact1;
	4	+ output int track;
	5	+
	6	+ initial state stat "station controller" {
	7	+ region "go" : A;
	8	+
	9	+ initial state init --> running immediate with /track=60;
	10	+ state running;
	11	+
	12	+ region "platform" : B;
	13	+
	14	+ initial state waiting --> slowdown immediate with contact0 / track = 20;
	15	+ state slowdown --> stop immediate with contact1 / track = 0;
	16	+ state stop --> waiting with 5 second / track = 60;
	17	+
	18	+ };
	19	+}

Confluence.Code.ConfluencePageClass[0]

Id

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1		-9471664
	1	+9471005

URL

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1		-https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/SS14Railway/pages/9471664/Basic design
	1	+https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/SS14Railway/pages/9471005/Basic design