Skip to Content

Changes for page Basic design

Last modified by nfl on 2025/01/30 12:05
From version 17.1
edited by sna
on 2014/08/13 02:54
Change comment: There is no comment for this version
To version 11.1
edited by sna
on 2014/08/06 03:48
Change comment: There is no comment for this version

Summary

Details

Page properties
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  \\\\\\\\
... ... @@ -41,469 +41,897 @@
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 +
46 46  === Structure ===
47 47  
48 -{{code linenumbers="true" language="sct"}}
49 -scchart Test2b "Test of IC_JCT" {
50 - bool IC_JCT_0_req[11], IC_LN_0_req[11], IC_LN_1_req[11], IC_LN_2_req[11];
51 - bool IC_LN_3_req[11], IC_LN_4_req[11], IC_LN_5_req[11], IC_ST_0_req[11];
52 - bool IC_ST_1_req[11], IC_ST_2_req[11], IC_ST_3_req[11], IC_ST_4_req[11];
53 - bool IO_LN_0_req[11], IO_LN_1_req[11], IO_LN_2_req[11], KH_LN_0_req[11];
54 - bool KH_LN_1_req[11], KH_LN_2_req[11], KH_LN_3_req[11], KH_LN_4_req[11];
55 - bool KH_LN_5_req[11], KH_LN_6_req[11], KH_LN_7_req[11], KH_LN_8_req[11];
56 - bool KH_ST_0_req[11], KH_ST_1_req[11], KH_ST_2_req[11], KH_ST_3_req[11];
57 - bool KH_ST_4_req[11], KH_ST_5_req[11], KH_ST_6_req[11], KIO_LN_0_req[11];
58 - bool KIO_LN_1_req[11], OC_JCT_0_req[11], OC_LN_0_req[11], OC_LN_1_req[11];
59 - bool OC_LN_2_req[11], OC_LN_3_req[11], OC_LN_4_req[11], OC_LN_5_req[11];
60 - bool OC_ST_0_req[11], OC_ST_1_req[11], OC_ST_2_req[11], OC_ST_3_req[11];
61 - bool OC_ST_4_req[11], OI_LN_0_req[11], OI_LN_1_req[11], OI_LN_2_req[11];
62 - bool req_in_R, req_out_R, req_in_L, req_out_L, perm_in_R, perm_out_R, perm_in_L, perm_out_L;
63 - int IC_JCT_0_perm, IC_LN_0_perm, IC_LN_1_perm, IC_LN_2_perm;
64 - int IC_LN_3_perm, IC_LN_4_perm, IC_LN_5_perm, IC_ST_0_perm;
65 - int IC_ST_1_perm, IC_ST_2_perm, IC_ST_3_perm, IC_ST_4_perm;
66 - int IO_LN_0_perm, IO_LN_1_perm, IO_LN_2_perm, KH_LN_0_perm;
67 - int KH_LN_1_perm, KH_LN_2_perm, KH_LN_3_perm, KH_LN_4_perm;
68 - int KH_LN_5_perm, KH_LN_6_perm, KH_LN_7_perm, KH_LN_8_perm;
69 - int KH_ST_0_perm, KH_ST_1_perm, KH_ST_2_perm, KH_ST_3_perm;
70 - int KH_ST_4_perm, KH_ST_5_perm, KH_ST_6_perm, KIO_LN_0_perm;
71 - int KIO_LN_1_perm, OC_JCT_0_perm, OC_LN_0_perm, OC_LN_1_perm;
72 - int OC_LN_2_perm, OC_LN_3_perm, OC_LN_4_perm, OC_LN_5_perm;
73 - int OC_ST_0_perm, OC_ST_1_perm, OC_ST_2_perm, OC_ST_3_perm;
74 - int OC_ST_4_perm, OI_LN_0_perm, OI_LN_1_perm, OI_LN_2_perm;
75 -
76 - bool debug = false;
77 - bool cleanup = false;
78 - int trainCount;
60 +----
61 +
62 +
79 79  
80 - const int c_EINS = 1;
81 - const int c_ZWEI = 2;
82 - const int c_DREI = 3;
83 - const int c_VIER = 4;
84 - const int c_FUENF = 5;
85 -
86 - initial state init references initRailway11Trains
87 - --> run;
88 -
89 - state run {
90 - region Mutexes:
91 - initial state Mutexes references mutexRailway11Trains;
92 -
93 - region KH_Mutexes:
94 - initial state KH_Mutexes references kh_mutex;
95 -
96 - region Train4 :
97 - initial state train4 {
98 -
99 - @alterHostcode
100 - const int trainNum = 4;
101 - int arrivalTrack = 3;
102 -
103 - initial state Round references ICIC
104 - bind depTrack to arrivalTrack,
105 - destTrack to c_DREI,
106 - arrTrack to arrivalTrack
107 - >-> Choice;
108 -
109 - state Choice
110 - --> Round with !cleanup | !(arrivalTrack == 3)
111 - --> Done;
112 -
113 - final state Done;
114 -
115 - };
116 - region Train5 :
117 - initial state train5 {
118 -
119 - @alterHostcode
120 - const int trainNum = 5;
121 - int arrivalTrack = 2;
122 -
123 - initial state Round references ICIC
124 - bind depTrack to arrivalTrack,
125 - destTrack to c_ZWEI,
126 - arrTrack to arrivalTrack
127 - >-> Choice;
128 -
129 - state Choice
130 - --> Round with !cleanup | !(arrivalTrack == 2)
131 - --> Done;
132 -
133 - final state Done;
134 -
135 - };
136 -
137 - region Train9 :
138 - initial state train9 {
139 -
140 - @alterHostcode
141 - const int trainNum = 9;
142 - int arrivalTrack = 1;
143 -
144 - initial state Round references ICIC
145 - bind depTrack to arrivalTrack,
146 - destTrack to c_EINS,
147 - arrTrack to arrivalTrack
148 - >-> Choice;
149 -
150 - state Choice
151 - --> Round with !cleanup | !(arrivalTrack == 1)
152 - --> Done;
153 -
154 - final state Done;
155 - };
156 -
157 - region Train7 :
158 - initial state train7 {
159 -
160 - @alterHostcode
161 - const int trainNum = 7;
162 - int arrivalTrack = 1;
163 -
164 - initial state OCtoIC references OCIC
165 - bind depTrack to arrivalTrack,
166 - destTrack to c_ZWEI,
167 - arrTrack to arrivalTrack
168 - >-> ICtoOC;
169 -
170 - state ICtoOC references ICOC
171 - bind depTrack to arrivalTrack,
172 - destTrack to c_EINS,
173 - arrTrack to arrivalTrack
174 - >-> Choice;
175 -
176 - state Choice
177 - --> OCtoIC with !cleanup | !(arrivalTrack == 1)
178 - --> Done;
179 -
180 - final state Done;
181 - };
182 - };
183 -}
184 -{{/code}}
185 185  
65 +|=(((
66 +{{{input int *_perm;}}}
67 +
68 +{{{output bool *_req[11];}}}
69 +
70 +{{{input int trainNum;}}}
71 +
72 +{{{input int depTrack;}}}
73 +
74 +{{{input int destTrack;}}}
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 +
186 186  
187 187  
188 -== Station-2-Station controller ==
529 +~/~/ Handles departing from a station
189 189  
190 -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.
531 +~/~/ Additional output for debugging
191 191  
192 -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.
533 +
193 193  
194 -[[image:attach:ICIC.png]]
535 +~/~/ State, which set requests for needed tracks
195 195  
196 -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.
197 -Next the train **must** wait for// int railDeparture(int train)// to return 1.
198 -After the waiting has finished the controller can reach a final state and pass the control back to the train controller.
537 +
199 199  
200 -=== Structure  ===
539 +
201 201  
202 -{{code linenumbers="true" language="sct"}}
203 -//
204 -// Structure of a Station-2-Station controller from Station * to Station *
205 -//
206 -scchart STST " * to * Controller " {
541 +
207 207  
208 - // Set of permission variables for required tracks
209 - input int *_perm;
543 +~/~/ Transition for received **all** needed permissions
210 210  
211 - // Set of request variables for required tracks for 11 trains
212 - output bool *_req[11];
545 +~/~/ Tranisition for received **some** needed permissions
213 213  
214 - // Train number
215 - input int trainNum;
547 +
216 216  
217 - // Number of the departure track in a station
218 - input int depTrack;
549 +~/~/ State for waiting an additional Tick
219 219  
220 - // Number of the destination track in a station
221 - input int destTrack;
551 +
222 222  
223 - // Cleanup flag for selecting the destination track
224 - input bool cleanup;
553 +
225 225  
226 - // Debug flag for additional output
227 - input bool debug;
555 +~/~/ State, which releases the requests for needed tracks
228 228  
229 - // Arrival track
230 - output int arrTrack;
557 +
231 231  
232 - // Variable with value for arrTrack for selecting correct station elements
233 - int i_arrOnTrack;
234 234  
235 - // Handles departing from a station *
236 - initial state *_ST {
237 - // hostcode call for additional output when debug
238 - entry debug / 'println([trainNum][ST-ST] ... )';
560 +
239 239  
240 - // State, which sets requests for needed tracks
241 - initial state waitForPerm {
242 - entry / *_ST_4_req[trainNum] = true;
243 - entry / *_LN_0_req[trainNum] = true;
244 - }
245 - // Transition is taken, if all permissions are received
246 - --> gotPerm with (*_ST_4_perm == trainNum) & (*_LN_0_perm == trainNum)
247 - // Transition is taken, if some (not all) permissions are received
248 - --> backOff with (*_ST_4_perm == trainNum) | (*_LN_0_perm == trainNum);
562 +
563 +~/~/ Transition to trying the requesting again
564 +
249 249  
250 - // State for waiting an additional tick when not all permissions are received
251 - state backOff
252 - --> backOff1;
566 +
253 253  
254 - // State, which releases the requests for needed tracks
255 - state backOff1 {
256 - entry / *_ST_4_req[trainNum] = false;
257 - entry / *_LN_0_req[trainNum] = false;
258 - }
259 - // Transition to repeat requesting permissions procedure
260 - --> waitForPerm;
568 +
261 261  
262 - final state gotPerm;
263 - }
264 - // Transition to the departure state
265 - >-> Dep_*_ST;
570 +
571 +~/~/ Transition to the departure state
572 +
266 266  
267 - // State, which handles the departure of a train
268 - state Dep_*_ST {
269 - // Set of entry-Actions with hostcode calls to set tracks, points and signals according to depTrack
270 - entry / 'railPoint(*,STRAIGHT)';
271 - entry / 'railSignal(*_LN_0, FWD, RED)';
272 - entry / 'railTrack(*_LN_0,FWD,trainNum,NORMAL)';
273 - entry / 'railTrack(*_ST_4,FWD,trainNum,NORMAL)';
274 - entry depTrack == 1 / 'railSignal(*_ST_1, FWD, GREEN)';
275 - entry depTrack == 2 / 'railSignal(*_ST_2, FWD, GREEN)';
276 - entry depTrack == 3 / 'railSignal(*_ST_3, FWD, GREEN)';
277 - //...
278 - // Transition to next track segment, if contact is triggered
279 - } --> *_LN_0 with 'railContact(*_LN_0,0)';
574 +
575 +~/~/ State, which handles the train departure
576 +
577 +~/~/ Set of entry-Actions to set tracks, points and signals according to depTrack
578 +
280 280  
281 281  
282 282  
283 - // .....................................................................................
284 - // Set of track segment controlling states such as follows
285 - // .....................................................................................
286 286  
287 - // Transition to next track segment, if contact is triggered
288 - state *_LN_0 {
289 - // Hostcode calls for outputs
290 - entry / 'println("[trainNum][ST-ST] Entering *_LN_0")';
291 - entry debug / 'println("[trainNum][ST-ST] Requesting permission for *_LN_1")';
292 - // Entry-Actions with hostcode calls to set previous signal according to depTrack to RED
293 - entry depTrack == 1 / 'railSignal(*_ST_1, FWD, RED)';
294 - entry depTrack == 2 / 'railSignal(*_ST_2, FWD, RED)';
295 - entry depTrack == 3 / 'railSignal(*_ST_3, FWD, RED)';
296 - // Requesting the next track segment
297 - entry / *_LN_1_req[trainNum] = true;
583 +
298 298  
299 - // Region for handling train driving
300 - region Travel:
301 - initial state Entry
302 - // Transition to continuing state, if permitted
303 - --> Continue with 'railContact(*_LN_0,0)' & (*_LN_1_perm == trainNum)
304 - // Transition to slowing down else
305 - --> Slowdown with 'railContact(*_LN_0,0)';
585 +
306 306  
307 - // State for slowing down the train
308 - state Slowdown {
309 - entry debug / 'println("[trainNum][ST-ST] Slowing down on *_LN_0")';
310 - // Entry-Action with hostcode calls for slowing down the train
311 - entry / 'railTrack(*_LN_0,FWD,trainNum,CAUTION)';
312 - }
313 - // Transition to waiting state
314 - --> Waiting with 'railContact(*_LN_0,1)'
315 - // Transition to continuing state, if permitted
316 - --> Continue with *_LN_1_perm == trainNum;
587 +
317 317  
318 - // State for train waiting on permission
319 - state Waiting {
320 - entry debug / 'println("[trainNum][ST-ST] Stopping on *_LN_0")';
321 - // Entry-Action with hostcode call for stopping the train
322 - entry / 'railTrackBrake(*_LN_0)';
323 - }
324 - --> Continue with *_LN_1_perm == trainNum;
589 +
325 325  
326 - // State to continuing driving on the track
327 - final state Continue {
328 - entry debug / 'println("[trainNum][ST-ST] Continuing on *_LN_0")';
329 - // Entry-Actions with hostcode calls to set tracks and signals for driving
330 - entry / 'railSignal(*_LN_0,FWD,GREEN)';
331 - entry / 'railTrack(*_LN_0,FWD,trainNum,NORMAL)';
332 - entry / 'railTrack(*_LN_1,FWD,trainNum,NORMAL)';
333 - entry / 'railSignal(*_LN_1, FWD, RED)';
334 - };
591 +
592 +~/~/ Transition to next track segment, if contact is readed
593 +
335 335  
336 - // Region for handling cleanup functionalities
337 - region Cleanup:
338 - initial state Entry
339 - // Transition to cleanup state
340 - --> cleanup with 'railContact(*_LN_0,0)';
595 +
596 +~/~/ State for handling the train on track *_LN_0
597 +
598 +~/~/ Outputs for debugging
599 +
341 341  
342 - // State for cleaning up the previous track segments
343 - final state cleanup {
344 - entry debug / 'println("[trainNum][ST-ST] Entered *_LN_0 completely")';
345 - // Entry-Action with hostcode call to switching off the previous track
346 - entry / 'railTrackOff(*_ST_4)';
347 - // Entry-Action to release the previous track
348 - entry / *_ST_4_req[trainNum] = false;
349 - };
350 - // Transition to transitional state
351 - }>-> *_LN_0_*_LN_1;
601 +
602 +~/~/ Entry-Actions to set the previous signals to RED
603 +
352 352  
353 - state *_LN_0_*_LN_1
354 - // Transition to next track segment, if contact is triggered
355 - --> *_LN_1 with 'railContact(*_LN_1,0)';
605 +
356 356  
357 - // ..................................................................................
358 358  
608 +~/~/ Requesting the next segment
359 359  
610 +
360 360  
361 - // State for entering a station
362 - state *_LN_5 {
363 - // Variable for checking all needed permissions
364 - int perm_all_next_segments = false;
365 - entry / 'println("[trainNum][ST-ST] Entering *_LN_5")';
366 - entry / 'railSignal(*_LN_4, FWD, RED)';
612 +~/~/ Region for handling train driving
613 +
367 367  
368 - // Region for handling train driving such as above,
369 - // only with perm_all_next_segments for permitting more than one track
370 - region Travel:
371 - initial state Entry
372 - --> Continue with 'railContact(*_LN_5,0)' & perm_all_next_segments
373 - --> Slowdown with 'railContact(*_LN_5,0)';
615 +
616 +~/~/ Transition to continuing state, if permitted
617 +
618 +~/~/ Transition to slowing down else
619 +
374 374  
375 - state Slowdown {
376 - entry debug / 'println("[trainNum][ST-ST] Slowing down on *_LN_5")';
377 - entry / 'railTrack(*_LN_5,FWD,trainNum,CAUTION)';
378 - }
379 - --> Waiting with 'railContact(*_LN_5,1)'
380 - --> Continue with perm_all_next_segments;
621 +
622 +~/~/ State for slowing down
623 +
624 +~/~/ Addtitional output for debugging
625 +
626 +~/~/ Entry-Action for slowing down the train
627 +
381 381  
382 - state Waiting {
383 - entry debug / 'println("[trainNum][ST-ST] Stopping on *_LN_5")';
384 - entry / 'railTrackBrake(*_LN_5)';
385 - }
386 - --> Continue with perm_all_next_segments;
629 +
630 +~/~/ Transition to waiting state
631 +
632 +~/~/ Transition to continuing state, if permitted
633 +
387 387  
388 - final state Continue {
389 - entry debug / 'println("[trainNum][ST-ST] Continuing on *_LN_5")';
390 - entry i_arrOnTrack == 1 / 'railTrack(*_ST_1,FWD,trainNum,NORMAL)';
391 - entry i_arrOnTrack == 2 / 'railTrack(*_ST_2,FWD,trainNum,NORMAL)';
392 - entry i_arrOnTrack == 3 / 'railTrack(*_ST_3,FWD,trainNum,NORMAL)';
393 - //...
394 - entry / arrTrack = i_arrOnTrack;
395 - };
635 +
636 +~/~/ Waiting state
637 +
638 +~/~/ Addtitional output for debugging
639 +
640 +~/~/ Entry-Action for stopping the train
641 +
396 396  
397 - // Region for handling cleanup-functionalities such as above
398 - region Cleanup:
399 - initial state Entry
400 - --> cleanup with 'railContact(*_LN_5,0)';
643 +
644 +~/~/ Tranisition to continuing state
645 +
401 401  
402 - final state cleanup {
403 - entry debug / 'println("[trainNum][ST-ST] Entered *_LN_5 completely")';
404 - entry / 'railTrackOff(*_LN_4)';
405 - entry / *_LN_4_req[trainNum] = false;
406 - };
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 +
407 407  
408 - // Region for handling permissions of all needed tracks
409 - region Permissions:
410 - // State for requesting all needed tracks according to destination track and cleanup-Flag
411 - initial state checking {
412 - entry / *_ST_0_req[trainNum] = true;
413 - entry destTrack == 1 | !cleanup / *_ST_1_req[trainNum] = true;
414 - entry destTrack == 2 | !cleanup / *_ST_2_req[trainNum] = true;
415 - entry destTrack == 3 | !cleanup / *_ST_3_req[trainNum] = true;
416 - }
417 - // Transitions for permitted tracks match wished tracks
418 - --> success with destTrack == 1 & *_ST_0_perm == trainNum & *_ST_1_perm == trainNum / i_arrOnTrack = 1
419 - --> success with destTrack == 2 & *_ST_0_perm == trainNum & *_ST_2_perm == trainNum / i_arrOnTrack = 2
420 - --> success with destTrack == 3 & *_ST_0_perm == trainNum & *_ST_3_perm == trainNum / i_arrOnTrack = 3
421 - // Transitions for permitted tracks don't match wished tracks
422 - --> success with *_ST_0_perm == trainNum & *_ST_1_perm == trainNum / i_arrOnTrack = 1
423 - --> success with *_ST_0_perm == trainNum & *_ST_2_perm == trainNum / i_arrOnTrack = 2
424 - --> success with *_ST_0_perm == trainNum & *_ST_3_perm == trainNum / i_arrOnTrack = 3
425 - // Transition for not all tracks permitted
426 - --> resolving with *_ST_0_perm == trainNum | *_ST_3_perm == trainNum | *_ST_2_perm == trainNum | *_ST_1_perm == trainNum;
655 +
427 427  
428 - // State for waiting an additional tick
429 - state resolving
430 - --> resolving1;
431 -
432 - // State for releasing track requests
433 - state resolving1 {
434 - entry / *_ST_0_req[trainNum] = false;
435 - entry / *_ST_1_req[trainNum] = false;
436 - entry / *_ST_2_req[trainNum] = false;
437 - entry / *_ST_3_req[trainNum] = false;
438 - }
439 - // Transition for trying the requesting again
440 - --> checking;
657 +
441 441  
442 - // State for waiting an additional tick
443 - state success
444 - --> success1;
445 445  
446 - // State for releasing not used track requests
447 - final state success1 {
448 - entry !(i_arrOnTrack == 1) / *_ST_1_req[trainNum] = false;
449 - entry !(i_arrOnTrack == 2) / *_ST_2_req[trainNum] = false;
450 - entry !(i_arrOnTrack == 3) / *_ST_3_req[trainNum] = false;
451 - // Settting perm_all_next_segments to true
452 - entry / perm_all_next_segments = true;
453 - };
454 - // Transition to station entry states
455 - }>-> *_LN_5_*_ST;
456 456  
457 - // State waiting for station entry
458 - state *_LN_5_*_ST
459 - --> Arr_*_ST with i_arrOnTrack == 1 & 'railContact(*_ST_1,0)'
460 -  --> Arr_*_ST with i_arrOnTrack == 2 & 'railContact(*_ST_2,0)'
461 - --> Arr_*_ST with i_arrOnTrack == 3 & 'railContact(*_ST_3,0)';
661 +
462 462  
463 - // State for setting tracks, points and signals according to i_arrOnTrack
464 - // and releasing previous track request
465 - state Arr_*_ST {
466 - entry / 'railSignal(*_LN_5, FWD, RED)';
467 - entry / 'railTrackOff(*_LN_5)';
468 - entry / 'railTrack(*_ST_0,FWD,trainNum,SLOW)';
469 - entry i_arrOnTrack == 1 / 'railTrack(*_ST_1,FWD,trainNum,SLOW)';
470 - entry i_arrOnTrack == 2 / 'railTrack(*_ST_2,FWD,trainNum,SLOW)';
471 - entry i_arrOnTrack == 3 / 'railTrack(*_ST_3,FWD,trainNum,SLOW)';
472 - entry / *_LN_5_req[trainNum] = false;
663 +
664 +~/~/ Region for handling cleanup-functionalities
665 +
473 473  
474 - initial state SlowEntry
475 - --> Slow with i_arrOnTrack == 1 & 'railContact(*_ST_1,0)'
476 - --> Slow with i_arrOnTrack == 2 & 'railContact(*_ST_2,0)'
477 - --> Slow with i_arrOnTrack == 3 & 'railContact(*_ST_3,0)';
667 +
668 +~/~/ Transition to cleanup state
669 +
478 478  
479 - // State for switching off previous track and releasing the request
480 - state Slow {
481 - entry / 'railTrackOff(*_ST_0)';
482 - entry / *_ST_0_req[trainNum] = false;
483 - }
484 - // Transitions to halt state, when train is at second contact of a track segment
485 - --> Halt with i_arrOnTrack == 1 & 'railContact(*_ST_1,1)'
486 - --> Halt with i_arrOnTrack == 2 & 'railContact(*_ST_2,1)'
487 - --> Halt with i_arrOnTrack == 3 & 'railContact(*_ST_3,1)';
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 +
488 488  
489 -
490 - final state Halt {
491 - // Entry-Actions for braking the train on correct track
492 - entry i_arrOnTrack == 1 / 'railTrackBrake(*_ST_1)';
493 - entry i_arrOnTrack == 2 / 'railTrackBrake(*_ST_2)';
494 - entry i_arrOnTrack == 3 / 'railTrackBrake(*_ST_3)';
495 - // Entry-Actions for waiting for timer on correct track
496 - entry i_arrOnTrack == 1 / 'railArrival(trainNum, *_ST_1)';
497 - entry i_arrOnTrack == 2 / 'railArrival(trainNum, *_ST_2)';
498 - entry i_arrOnTrack == 3 / 'railArrival(trainNum, *_ST_3)';
499 - };
500 - }
501 - >-> done;
681 +
682 +~/~/ Transition to transitional state
683 +
502 502  
503 - state done
504 - // Transition to final state, if timer is ready
505 - --> reallyDone with 'railDeparture(trainNum)';
685 +
686 +~/~/ Transitional state
687 +
688 +~/~/ Transition to next track segment, if contact is readed
689 +
506 506  
507 - final state reallyDone;
508 -}
509 -{{/code}}
691 +
692 +
693 +
694 +
695 +
696 +
697 +
698 +
699 +
700 +~/~/ State for entering a station
701 +
702 +~/~/ Variable for checking all needed permissions
703 +
704 +~/~/ Output
705 +
706 +~/~/ Setting signal to RED
707 +
708 +
709 +
710 +~/~/ Region for handling train driving
711 +
712 +
713 +
714 +~/~/ Transition to continuing state, if permitted
715 +
716 +~/~/ Transition to slowing down else
717 +
718 +
719 +
720 +~/~/ State for slowing down
721 +
722 +~/~/ Addtitional output for debugging
723 +
724 +~/~/ Entry-Action for slowing down the train
725 +
726 +
727 +
728 +~/~/ Transition to waiting state
729 +
730 +~/~/ Transition to continuing state, if permitted
731 +
732 +
733 +
734 +~/~/ Waiting state
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 +)))
Confluence.Code.ConfluencePageClass[0]
Id
... ... @@ -1,1 +1,1 @@
1 -9471666
1 +9471640
URL
... ... @@ -1,1 +1,1 @@
1 -https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/SS14Railway/pages/9471666/Basic design
1 +https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/SS14Railway/pages/9471640/Basic design