Skip to Content

Changes for page Basic design

Last modified by nfl on 2025/01/30 12:05
From version 9.1
edited by csp
on 2014/06/23 14:18
Change comment: updated figure of Mutex_KH, fixed typo
To version 16.1
edited by sna
on 2014/08/13 02:41
Change comment: There is no comment for this version

Summary

Details

Page properties
Author
... ... @@ -1,1 +1,1 @@
1 -XWiki.csp
1 +XWiki.sna
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  \\\\\\\\
... ... @@ -41,13 +41,13 @@
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 46  == Station-2-Station controller ==
47 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.
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.
49 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.
50 +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.
51 51  
52 52  [[image:attach:ICIC.png]]
53 53  
... ... @@ -54,3 +54,314 @@
54 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 55  Next the train **must** wait for// int railDeparture(int train)// to return 1.
56 56  After the waiting has finished the controller can reach a final state and pass the control back to the train controller.
57 +
58 +=== Structure  ===
59 +
60 +{{code linenumbers="true" language="sct"}}
61 +//
62 +// Structure of a Station-2-Station controller from Station * to Station *
63 +//
64 +scchart STST " * to * Controller " {
65 +
66 + // Set of permission variables for required tracks
67 + input int *_perm;
68 +
69 + // Set of request variables for required tracks for 11 trains
70 + output bool *_req[11];
71 +
72 + // Train number
73 + input int trainNum;
74 +
75 + // Number of the departure track in a station
76 + input int depTrack;
77 +
78 + // Number of the destination track in a station
79 + input int destTrack;
80 +
81 + // Cleanup flag for selecting the destination track
82 + input bool cleanup;
83 +
84 + // Debug flag for additional output
85 + input bool debug;
86 +
87 + // Arrival track
88 + output int arrTrack;
89 +
90 + // Variable with value for arrTrack for selecting correct station elements
91 + int i_arrOnTrack;
92 +
93 + // Handles departing from a station *
94 + initial state *_ST {
95 + // hostcode call for additional output when debug
96 + entry debug / 'println([trainNum][ST-ST] ... )';
97 +
98 + // State, which sets requests for needed tracks
99 + initial state waitForPerm {
100 + entry / *_ST_4_req[trainNum] = true;
101 + entry / *_LN_0_req[trainNum] = true;
102 + }
103 + // Transition is taken, if all permissions are received
104 + --> gotPerm with (*_ST_4_perm == trainNum) & (*_LN_0_perm == trainNum)
105 + // Transition is taken, if some (not all) permissions are received
106 + --> backOff with (*_ST_4_perm == trainNum) | (*_LN_0_perm == trainNum);
107 +
108 + // State for waiting an additional tick when not all permissions are received
109 + state backOff
110 + --> backOff1;
111 +
112 + // State, which releases the requests for needed tracks
113 + state backOff1 {
114 + entry / *_ST_4_req[trainNum] = false;
115 + entry / *_LN_0_req[trainNum] = false;
116 + }
117 + // Transition to repeat requesting permissions procedure
118 + --> waitForPerm;
119 +
120 + final state gotPerm;
121 + }
122 + // Transition to the departure state
123 + >-> Dep_*_ST;
124 +
125 + // State, which handles the departure of a train
126 + state Dep_*_ST {
127 + // Set of entry-Actions with hostcode calls to set tracks, points and signals according to depTrack
128 + entry / 'railPoint(*,STRAIGHT)';
129 + entry / 'railSignal(*_LN_0, FWD, RED)';
130 + entry / 'railTrack(*_LN_0,FWD,trainNum,NORMAL)';
131 + entry / 'railTrack(*_ST_4,FWD,trainNum,NORMAL)';
132 + entry depTrack == 1 / 'railSignal(*_ST_1, FWD, GREEN)';
133 + entry depTrack == 2 / 'railSignal(*_ST_2, FWD, GREEN)';
134 + entry depTrack == 3 / 'railSignal(*_ST_3, FWD, GREEN)';
135 + //...
136 + // Transition to next track segment, if contact is triggered
137 + } --> *_LN_0 with 'railContact(*_LN_0,0)';
138 +
139 +
140 +
141 + // .....................................................................................
142 + // Set of track segment controlling states such as follows
143 + // .....................................................................................
144 +
145 + // Transition to next track segment, if contact is triggered
146 + state *_LN_0 {
147 + // Hostcode calls for outputs
148 + entry / 'println("[trainNum][ST-ST] Entering *_LN_0")';
149 + entry debug / 'println("[trainNum][ST-ST] Requesting permission for *_LN_1")';
150 + // Entry-Actions with hostcode calls to set previous signal according to depTrack to RED
151 + entry depTrack == 1 / 'railSignal(*_ST_1, FWD, RED)';
152 + entry depTrack == 2 / 'railSignal(*_ST_2, FWD, RED)';
153 + entry depTrack == 3 / 'railSignal(*_ST_3, FWD, RED)';
154 + // Requesting the next track segment
155 + entry / *_LN_1_req[trainNum] = true;
156 +
157 + // Region for handling train driving
158 + region Travel:
159 + initial state Entry
160 + // Transition to continuing state, if permitted
161 + --> Continue with 'railContact(*_LN_0,0)' & (*_LN_1_perm == trainNum)
162 + // Transition to slowing down else
163 + --> Slowdown with 'railContact(*_LN_0,0)';
164 +
165 + // State for slowing down the train
166 + state Slowdown {
167 + entry debug / 'println("[trainNum][ST-ST] Slowing down on *_LN_0")';
168 + // Entry-Action with hostcode calls for slowing down the train
169 + entry / 'railTrack(*_LN_0,FWD,trainNum,CAUTION)';
170 + }
171 + // Transition to waiting state
172 + --> Waiting with 'railContact(*_LN_0,1)'
173 + // Transition to continuing state, if permitted
174 + --> Continue with *_LN_1_perm == trainNum;
175 +
176 + // State for train waiting on permission
177 + state Waiting {
178 + entry debug / 'println("[trainNum][ST-ST] Stopping on *_LN_0")';
179 + // Entry-Action with hostcode call for stopping the train
180 + entry / 'railTrackBrake(*_LN_0)';
181 + }
182 + --> Continue with *_LN_1_perm == trainNum;
183 +
184 + // State to continuing driving on the track
185 + final state Continue {
186 + entry debug / 'println("[trainNum][ST-ST] Continuing on *_LN_0")';
187 + // Entry-Actions with hostcode calls to set tracks and signals for driving
188 + entry / 'railSignal(*_LN_0,FWD,GREEN)';
189 + entry / 'railTrack(*_LN_0,FWD,trainNum,NORMAL)';
190 + entry / 'railTrack(*_LN_1,FWD,trainNum,NORMAL)';
191 + entry / 'railSignal(*_LN_1, FWD, RED)';
192 + };
193 +
194 + // Region for handling cleanup functionalities
195 + region Cleanup:
196 + initial state Entry
197 + // Transition to cleanup state
198 + --> cleanup with 'railContact(*_LN_0,0)';
199 +
200 + // State for cleaning up the previous track segments
201 + final state cleanup {
202 + entry debug / 'println("[trainNum][ST-ST] Entered *_LN_0 completely")';
203 + // Entry-Action with hostcode call to switching off the previous track
204 + entry / 'railTrackOff(*_ST_4)';
205 + // Entry-Action to release the previous track
206 + entry / *_ST_4_req[trainNum] = false;
207 + };
208 + // Transition to transitional state
209 + }>-> *_LN_0_*_LN_1;
210 +
211 + state *_LN_0_*_LN_1
212 + // Transition to next track segment, if contact is triggered
213 + --> *_LN_1 with 'railContact(*_LN_1,0)';
214 +
215 + // ..................................................................................
216 +
217 +
218 +
219 + // State for entering a station
220 + state *_LN_5 {
221 + // Variable for checking all needed permissions
222 + int perm_all_next_segments = false;
223 + entry / 'println("[trainNum][ST-ST] Entering *_LN_5")';
224 + entry / 'railSignal(*_LN_4, FWD, RED)';
225 +
226 + // Region for handling train driving such as above,
227 + // only with perm_all_next_segments for permitting more than one track
228 + region Travel:
229 + initial state Entry
230 + --> Continue with 'railContact(*_LN_5,0)' & perm_all_next_segments
231 + --> Slowdown with 'railContact(*_LN_5,0)';
232 +
233 + state Slowdown {
234 + entry debug / 'println("[trainNum][ST-ST] Slowing down on *_LN_5")';
235 + entry / 'railTrack(*_LN_5,FWD,trainNum,CAUTION)';
236 + }
237 + --> Waiting with 'railContact(*_LN_5,1)'
238 + --> Continue with perm_all_next_segments;
239 +
240 + state Waiting {
241 + entry debug / 'println("[trainNum][ST-ST] Stopping on *_LN_5")';
242 + entry / 'railTrackBrake(*_LN_5)';
243 + }
244 + --> Continue with perm_all_next_segments;
245 +
246 + final state Continue {
247 + entry debug / 'println("[trainNum][ST-ST] Continuing on *_LN_5")';
248 + entry i_arrOnTrack == 1 / 'railTrack(*_ST_1,FWD,trainNum,NORMAL)';
249 + entry i_arrOnTrack == 2 / 'railTrack(*_ST_2,FWD,trainNum,NORMAL)';
250 + entry i_arrOnTrack == 3 / 'railTrack(*_ST_3,FWD,trainNum,NORMAL)';
251 + //...
252 + entry / arrTrack = i_arrOnTrack;
253 + };
254 +
255 + // Region for handling cleanup-functionalities such as above
256 + region Cleanup:
257 + initial state Entry
258 + --> cleanup with 'railContact(*_LN_5,0)';
259 +
260 + final state cleanup {
261 + entry debug / 'println("[trainNum][ST-ST] Entered *_LN_5 completely")';
262 + entry / 'railTrackOff(*_LN_4)';
263 + entry / *_LN_4_req[trainNum] = false;
264 + };
265 +
266 + // Region for handling permissions of all needed tracks
267 + region Permissions:
268 + // State for requesting all needed tracks according to destination track and cleanup-Flag
269 + initial state checking {
270 + entry / *_ST_0_req[trainNum] = true;
271 + entry destTrack == 1 | !cleanup / *_ST_1_req[trainNum] = true;
272 + entry destTrack == 2 | !cleanup / *_ST_2_req[trainNum] = true;
273 + entry destTrack == 3 | !cleanup / *_ST_3_req[trainNum] = true;
274 + }
275 + // Transitions for permitted tracks match wished tracks
276 + --> success with destTrack == 1 & *_ST_0_perm == trainNum & *_ST_1_perm == trainNum / i_arrOnTrack = 1
277 + --> success with destTrack == 2 & *_ST_0_perm == trainNum & *_ST_2_perm == trainNum / i_arrOnTrack = 2
278 + --> success with destTrack == 3 & *_ST_0_perm == trainNum & *_ST_3_perm == trainNum / i_arrOnTrack = 3
279 + // Transitions for permitted tracks don't match wished tracks
280 + --> success with *_ST_0_perm == trainNum & *_ST_1_perm == trainNum / i_arrOnTrack = 1
281 + --> success with *_ST_0_perm == trainNum & *_ST_2_perm == trainNum / i_arrOnTrack = 2
282 + --> success with *_ST_0_perm == trainNum & *_ST_3_perm == trainNum / i_arrOnTrack = 3
283 + // Transition for not all tracks permitted
284 + --> resolving with *_ST_0_perm == trainNum | *_ST_3_perm == trainNum | *_ST_2_perm == trainNum | *_ST_1_perm == trainNum;
285 +
286 + // State for waiting an additional tick
287 + state resolving
288 + --> resolving1;
289 +
290 + // State for releasing track requests
291 + state resolving1 {
292 + entry / *_ST_0_req[trainNum] = false;
293 + entry / *_ST_1_req[trainNum] = false;
294 + entry / *_ST_2_req[trainNum] = false;
295 + entry / *_ST_3_req[trainNum] = false;
296 + }
297 + // Transition for trying the requesting again
298 + --> checking;
299 +
300 + // State for waiting an additional tick
301 + state success
302 + --> success1;
303 +
304 + // State for releasing not used track requests
305 + final state success1 {
306 + entry !(i_arrOnTrack == 1) / *_ST_1_req[trainNum] = false;
307 + entry !(i_arrOnTrack == 2) / *_ST_2_req[trainNum] = false;
308 + entry !(i_arrOnTrack == 3) / *_ST_3_req[trainNum] = false;
309 + // Settting perm_all_next_segments to true
310 + entry / perm_all_next_segments = true;
311 + };
312 + // Transition to station entry states
313 + }>-> *_LN_5_*_ST;
314 +
315 + // State waiting for station entry
316 + state *_LN_5_*_ST
317 + --> Arr_*_ST with i_arrOnTrack == 1 & 'railContact(*_ST_1,0)'
318 +  --> Arr_*_ST with i_arrOnTrack == 2 & 'railContact(*_ST_2,0)'
319 + --> Arr_*_ST with i_arrOnTrack == 3 & 'railContact(*_ST_3,0)';
320 +
321 + // State for setting tracks, points and signals according to i_arrOnTrack
322 + // and releasing previous track request
323 + state Arr_*_ST {
324 + entry / 'railSignal(*_LN_5, FWD, RED)';
325 + entry / 'railTrackOff(*_LN_5)';
326 + entry / 'railTrack(*_ST_0,FWD,trainNum,SLOW)';
327 + entry i_arrOnTrack == 1 / 'railTrack(*_ST_1,FWD,trainNum,SLOW)';
328 + entry i_arrOnTrack == 2 / 'railTrack(*_ST_2,FWD,trainNum,SLOW)';
329 + entry i_arrOnTrack == 3 / 'railTrack(*_ST_3,FWD,trainNum,SLOW)';
330 + entry / *_LN_5_req[trainNum] = false;
331 +
332 + initial state SlowEntry
333 + --> Slow with i_arrOnTrack == 1 & 'railContact(*_ST_1,0)'
334 + --> Slow with i_arrOnTrack == 2 & 'railContact(*_ST_2,0)'
335 + --> Slow with i_arrOnTrack == 3 & 'railContact(*_ST_3,0)';
336 +
337 + // State for switching off previous track and releasing the request
338 + state Slow {
339 + entry / 'railTrackOff(*_ST_0)';
340 + entry / *_ST_0_req[trainNum] = false;
341 + }
342 + // Transitions to halt state, when train is at second contact of a track segment
343 + --> Halt with i_arrOnTrack == 1 & 'railContact(*_ST_1,1)'
344 + --> Halt with i_arrOnTrack == 2 & 'railContact(*_ST_2,1)'
345 + --> Halt with i_arrOnTrack == 3 & 'railContact(*_ST_3,1)';
346 +
347 +
348 + final state Halt {
349 + // Entry-Actions for braking the train on correct track
350 + entry i_arrOnTrack == 1 / 'railTrackBrake(*_ST_1)';
351 + entry i_arrOnTrack == 2 / 'railTrackBrake(*_ST_2)';
352 + entry i_arrOnTrack == 3 / 'railTrackBrake(*_ST_3)';
353 + // Entry-Actions for waiting for timer on correct track
354 + entry i_arrOnTrack == 1 / 'railArrival(trainNum, *_ST_1)';
355 + entry i_arrOnTrack == 2 / 'railArrival(trainNum, *_ST_2)';
356 + entry i_arrOnTrack == 3 / 'railArrival(trainNum, *_ST_3)';
357 + };
358 + }
359 + >-> done;
360 +
361 + state done
362 + // Transition to final state, if timer is ready
363 + --> reallyDone with 'railDeparture(trainNum)';
364 +
365 + final state reallyDone;
366 +}
367 +{{/code}}
Confluence.Code.ConfluencePageClass[0]
Id
... ... @@ -1,1 +1,1 @@
1 -9471637
1 +9471664
URL
... ... @@ -1,1 +1,1 @@
1 -https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/SS14Railway/pages/9471637/Basic design
1 +https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/SS14Railway/pages/9471664/Basic design