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Changes for page Basic design

Last modified by nfl on 2025/01/30 12:05
From version 20.1
edited by nfl
on 2023/07/13 12:23
Change comment: Renamed from xwiki:SS14Railway.Basic design
To version 17.1
edited by sna
on 2014/08/13 02:54
Change comment: There is no comment for this version

Summary

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1 -SCChart Controller
Author
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1 -XWiki.nfl
1 +XWiki.sna
Content
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46 46  === Structure ===
47 47  
48 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
49 +scchart Test2b "Test of IC_JCT" {
54 54   bool IC_JCT_0_req[11], IC_LN_0_req[11], IC_LN_1_req[11], IC_LN_2_req[11];
55 55   bool IC_LN_3_req[11], IC_LN_4_req[11], IC_LN_5_req[11], IC_ST_0_req[11];
56 56   bool IC_ST_1_req[11], IC_ST_2_req[11], IC_ST_3_req[11], IC_ST_4_req[11];
... ... @@ -63,9 +63,7 @@
63 63   bool OC_LN_2_req[11], OC_LN_3_req[11], OC_LN_4_req[11], OC_LN_5_req[11];
64 64   bool OC_ST_0_req[11], OC_ST_1_req[11], OC_ST_2_req[11], OC_ST_3_req[11];
65 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
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;
69 69   int IC_JCT_0_perm, IC_LN_0_perm, IC_LN_1_perm, IC_LN_2_perm;
70 70   int IC_LN_3_perm, IC_LN_4_perm, IC_LN_5_perm, IC_ST_0_perm;
71 71   int IC_ST_1_perm, IC_ST_2_perm, IC_ST_3_perm, IC_ST_4_perm;
... ... @@ -78,16 +78,11 @@
78 78   int OC_LN_2_perm, OC_LN_3_perm, OC_LN_4_perm, OC_LN_5_perm;
79 79   int OC_ST_0_perm, OC_ST_1_perm, OC_ST_2_perm, OC_ST_3_perm;
80 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
75 +
84 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
77 + bool cleanup = false;
88 88   int trainCount;
89 -
90 - // Set of constants for binding to referenced SCCharts
79 +
91 91   const int c_EINS = 1;
92 92   const int c_ZWEI = 2;
93 93   const int c_DREI = 3;
... ... @@ -94,59 +94,37 @@
94 94   const int c_VIER = 4;
95 95   const int c_FUENF = 5;
96 96  
97 - // State initializing the trains on corresponding tracks
98 98   initial state init references initRailway11Trains
99 99   --> run;
100 100  
101 - // State handling the train schedules
102 102   state run {
103 - // Regions handling the mutual exclusion on the track segments
104 104   region Mutexes:
105 -  // State referenced to the MutexController for 11 Trains
106 106   initial state Mutexes references mutexRailway11Trains;
107 107  
108 108   region KH_Mutexes:
109 -  // State referenced to additional MutexController for KH
110 110   initial state KH_Mutexes references kh_mutex;
111 111  
112 - // Regions that contain the schedules for individual trains
113 - //--------------------------------------------------------------------------------------
114 -
115 - // Region with schedule for train 4
116 116   region Train4 :
117 -  // State with the schedule for train 4
118 118   initial state train4 {
119 119  
120 - // Annotation for replacing following constant in the hostcode of referenced SCChart
121 121   @alterHostcode
122 - // Number of the train for identifying on track segments
123 123   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
126 126   int arrivalTrack = 3;
127 127  
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
130 130   initial state Round references ICIC
131 131   bind depTrack to arrivalTrack,
132 132   destTrack to c_DREI,
133 133   arrTrack to arrivalTrack
134 -  // Transition to checking state
135 135   >-> Choice;
136 -
137 - // State for checking, when the train should halt and if the train is on corresponding track
108 +
138 138   state Choice
139 - // Transition for driving additional circle, if cleanup = false or wrong track used
140 140   --> Round with !cleanup | !(arrivalTrack == 3)
141 - // Transition to final state
142 142   --> Done;
143 143  
144 - final state Done;
113 + final state Done;
114 +
145 145   };
146 -
147 -
148 - // Region with schedule for train 5, identical to region above
149 -  region Train5 :
116 + region Train5 :
150 150   initial state train5 {
151 151  
152 152   @alterHostcode
... ... @@ -167,8 +167,6 @@
167 167  
168 168   };
169 169  
170 -
171 - // Region with schedule for train 9, identical to region above
172 172   region Train9 :
173 173   initial state train9 {
174 174  
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188 188  
189 189   final state Done;
190 190   };
191 -
192 -
193 - // Region with schedule for train 7
156 +
194 194   region Train7 :
195 195   initial state train7 {
196 196  
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198 198   const int trainNum = 7;
199 199   int arrivalTrack = 1;
200 200  
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
204 204   initial state OCtoIC references OCIC
205 205   bind depTrack to arrivalTrack,
206 206   destTrack to c_ZWEI,
207 207   arrTrack to arrivalTrack
208 -  // Transition to next Station-2-Station controller
209 209   >-> ICtoOC;
210 210  
211 211   state ICtoOC references ICOC
... ... @@ -212,14 +212,10 @@
212 212   bind depTrack to arrivalTrack,
213 213   destTrack to c_EINS,
214 214   arrTrack to arrivalTrack
215 -  // Transition to checking state because train at home station
216 216   >-> Choice;
217 217  
218 - // State for checking, when the train should halt and if the train is on corresponding track
219 219   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
177 + --> OCtoIC with !cleanup | !(arrivalTrack == 1)
223 223   --> Done;
224 224  
225 225   final state Done;
... ... @@ -325,9 +325,9 @@
325 325  
326 326  
327 327  
328 - // ----------------------------------------------------------------------------------------------------------------
283 + // .....................................................................................
329 329   // Set of track segment controlling states such as follows
330 - // ----------------------------------------------------------------------------------------------------------------
285 + // .....................................................................................
331 331  
332 332   // Transition to next track segment, if contact is triggered
333 333   state *_LN_0 {
... ... @@ -399,7 +399,7 @@
399 399   // Transition to next track segment, if contact is triggered
400 400   --> *_LN_1 with 'railContact(*_LN_1,0)';
401 401  
402 - // ----------------------------------------------------------------------------------------------------------------
357 + // ..................................................................................
403 403  
404 404  
405 405  
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552 552   final state reallyDone;
553 553  }
554 554  {{/code}}
555 -
556 -== Dynamic Controller ==
557 -
558 -The dynamic controller handles all 11 Trains. For each train the controller has a region with a referenced dynamic scheduling. Thereby each train can follow an arbitrary schedule. Additionally the controller has a region for stable cleanup function.
559 -
560 -{{code linenumbers="true" language="sct"}}
561 -//
562 -// Dynamic controller for 11 trains
563 -//
564 -scchart DynamicController11 {
565 - // Set of request variables for all tracks for 11 trains
566 - bool IC_JCT_0_req[11], IC_LN_0_req[11], IC_LN_1_req[11], IC_LN_2_req[11];
567 - bool IC_LN_3_req[11], IC_LN_4_req[11], IC_LN_5_req[11], IC_ST_0_req[11];
568 - bool IC_ST_1_req[11], IC_ST_2_req[11], IC_ST_3_req[11], IC_ST_4_req[11];
569 - bool IO_LN_0_req[11], IO_LN_1_req[11], IO_LN_2_req[11], KH_LN_0_req[11];
570 - bool KH_LN_1_req[11], KH_LN_2_req[11], KH_LN_3_req[11], KH_LN_4_req[11];
571 - bool KH_LN_5_req[11], KH_LN_6_req[11], KH_LN_7_req[11], KH_LN_8_req[11];
572 - bool KH_ST_0_req[11], KH_ST_1_req[11], KH_ST_2_req[11], KH_ST_3_req[11];
573 - bool KH_ST_4_req[11], KH_ST_5_req[11], KH_ST_6_req[11], KIO_LN_0_req[11];
574 - bool KIO_LN_1_req[11], OC_JCT_0_req[11], OC_LN_0_req[11], OC_LN_1_req[11];
575 - bool OC_LN_2_req[11], OC_LN_3_req[11], OC_LN_4_req[11], OC_LN_5_req[11];
576 - bool OC_ST_0_req[11], OC_ST_1_req[11], OC_ST_2_req[11], OC_ST_3_req[11];
577 - bool OC_ST_4_req[11], OI_LN_0_req[11], OI_LN_1_req[11], OI_LN_2_req[11];
578 - bool req_in_R , req_out_R , req_in_L , req_out_L;
579 -  
580 - // Set of permission variables for all tracks
581 - int IC_JCT_0_perm, IC_LN_0_perm, IC_LN_1_perm, IC_LN_2_perm;
582 - int IC_LN_3_perm, IC_LN_4_perm, IC_LN_5_perm, IC_ST_0_perm;
583 - int IC_ST_1_perm, IC_ST_2_perm, IC_ST_3_perm, IC_ST_4_perm;
584 - int IO_LN_0_perm, IO_LN_1_perm, IO_LN_2_perm, KH_LN_0_perm;
585 - int KH_LN_1_perm, KH_LN_2_perm, KH_LN_3_perm, KH_LN_4_perm;
586 - int KH_LN_5_perm, KH_LN_6_perm, KH_LN_7_perm, KH_LN_8_perm;
587 - int KH_ST_0_perm, KH_ST_1_perm, KH_ST_2_perm, KH_ST_3_perm;
588 - int KH_ST_4_perm, KH_ST_5_perm, KH_ST_6_perm, KIO_LN_0_perm;
589 - int KIO_LN_1_perm, OC_JCT_0_perm, OC_LN_0_perm, OC_LN_1_perm;
590 - int OC_LN_2_perm, OC_LN_3_perm, OC_LN_4_perm, OC_LN_5_perm;
591 - int OC_ST_0_perm, OC_ST_1_perm, OC_ST_2_perm, OC_ST_3_perm;
592 - int OC_ST_4_perm, OI_LN_0_perm, OI_LN_1_perm, OI_LN_2_perm;
593 - bool perm_in_R , perm_out_R , perm_in_L , perm_out_L;
594 -
595 - // Flags needed for stable cleanup function
596 - //----------------------------------------------------------------------------------------
597 - // Flags for trains are ready and back at home
598 - bool trainDone[11];
599 - // Flags for trains are on their home circle
600 - bool circle[11];
601 - // Flag for trains 0 to 7 are back at home and trains 8 to 10 are on their home circle
602 -  bool mainDone;
603 - // Flag for all trains are back at home
604 -  bool allDone;
605 - //----------------------------------------------------------------------------------------
606 -
607 - // Debug flag for additional output
608 -  bool debug;
609 - // Cleanup flag for halting the trains at home station tracks
610 -  bool cleanup;
611 - // Variable, that gives the number of trains to C-Controller for stability check
612 -  int trainCount;
613 - // Constant needed for binding to referenced SCCharts
614 - const bool c_TRUE = true;
615 -
616 -
617 - // State initializing the trains on corresponding tracks
618 - initial state init references initRailway11Trains
619 - >-> run;
620 -
621 -
622 - // State handling the train schedules
623 -  state run {
624 -
625 -  // Region handling the cleanup function
626 - region Abort:
627 - initial state notDone
628 -  // Transition when trains 0 to 7 are back at home and trains 8 to 10 are on their home circle
629 - --> mainDone with trainDone[0] & trainDone[1] & trainDone[2]
630 - & trainDone[3] & trainDone[4] & trainDone[5]
631 - & trainDone[6] & trainDone[7]
632 - & circle[8] & circle[9] & circle[10];
633 -
634 - // State for allowing trains 8 to 10 to halt on the home track
635 - state mainDone
636 - --> quitCircle with / mainDone = true;
637 -
638 - // State waiting for trains 8 to 10 halt and setting flag for terminate the controller
639 - state quitCircle
640 - --> done with trainDone[8] & trainDone[9] & trainDone[10] / allDone = true;
641 -
642 - final state done;
643 -
644 - // Regions handling the mutual exclusion on the track segments
645 - region Mutexes:
646 - initial state Mutexes references mutexRailway11Trains
647 - // terminates with a strong abort when all trains are at home
648 - o-> done with allDone;
649 -
650 - final state done;
651 -
652 - region KH_Mutexes:
653 - initial state KH_Mutexes references kh_mutex
654 -  // terminates with a strong abort when all trains are at home
655 - o-> done with allDone;
656 -
657 - final state done;
658 -
659 - // Regions that contain the dynamic schedules for trains 0 to 7
660 - //--------------------------------------------------------------------------------------
661 -
662 - // Region with the dynamic schedule for train 0
663 - region Train0:
664 - initial state Train0 {
665 - @alterHostcode
666 - const int trainNum = 0
667 -  // Variable for saving the home track
668 - int homeTrack = 1;
669 - // Variable for saving the home station
670 - int homeStation = 1;
671 -
672 - // State referenced to dynamic scheduling
673 - initial state drive
674 - references DynamicSheduling
675 -  // Binding circleDone to true for halting at home if cleanup is set
676 - bind circleDone to c_TRUE
677 -  // Set a flag and a light for train at home
678 - >-> done with / 'railLight(10,1)'; trainDone[0] = true;
679 -
680 - final state done;
681 - }
682 - >-> done;
683 -
684 - final state done;
685 -
686 - // ... (other regions for trains 1 to 7 such as before)
687 -
688 -  //--------------------------------------------------------------------------------------
689 -
690 -
691 -
692 -
693 - // Regions that contain the dynamic schedules for trains 8 to 10
694 - // Differences to regions above is that the trains 8 to 10 circle at home station circle
695 - // until trains 0 to 7 are back at home station and track
696 - // For this circleDone binds mainDone flag
697 - //--------------------------------------------------------------------------------------
698 -
699 - // Region with the dynamic schedule for train 8
700 - region Train8:
701 - initial state Train8 {
702 - @alterHostcode
703 - const int trainNum = 8
704 - // Variable for saving the home track
705 -  int homeTrack = 5;
706 - // Variable for saving the home station
707 - int homeStation = 1;
708 -
709 - // State referenced to dynamic scheduling
710 - initial state drive
711 - references DynamicSheduling
712 -  // Binding circleDone to mainDone for halting at home only if cleanup is set
713 - // and trains 0 to 7 are at home and 8 to 10 on home circle
714 - bind circleDone to mainDone
715 - // Set a flag and a light for train at home 
716 - >-> done with / 'railLight(6,1)'; trainDone[8] = true;
717 -
718 - final state done;
719 - }
720 - >-> done;
721 -
722 - final state done;
723 -
724 - // ... (other regions for trains 9 and 10 such as before)
725 - //--------------------------------------------------------------------------------------
726 -
727 - }
728 - >-> flash;
729 -
730 - // State for flashing the lights at the end of the controller
731 - state flash
732 - --> done with / 'railFlashLight()';
733 -
734 - final state done;
735 -}
736 -{{/code}}
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 -9471005
1 +9471666
URL
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1 -https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/SS14Railway/pages/9471005/Basic design
1 +https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/SS14Railway/pages/9471666/Basic design