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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 17.1
edited by sna
on 2014/08/13 02:54
Change comment: There is no comment for this version

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Author
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1 -XWiki.csp
1 +XWiki.sna
Content
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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 +41,155 @@
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 +=== Structure ===
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;
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 +
186 +
187 +
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.
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.
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.
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.
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.
199 +
200 +=== Structure  ===
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 " {
207 +
208 + // Set of permission variables for required tracks
209 + input int *_perm;
210 +
211 + // Set of request variables for required tracks for 11 trains
212 + output bool *_req[11];
213 +
214 + // Train number
215 + input int trainNum;
216 +
217 + // Number of the departure track in a station
218 + input int depTrack;
219 +
220 + // Number of the destination track in a station
221 + input int destTrack;
222 +
223 + // Cleanup flag for selecting the destination track
224 + input bool cleanup;
225 +
226 + // Debug flag for additional output
227 + input bool debug;
228 +
229 + // Arrival track
230 + output int arrTrack;
231 +
232 + // Variable with value for arrTrack for selecting correct station elements
233 + int i_arrOnTrack;
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] ... )';
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);
249 +
250 + // State for waiting an additional tick when not all permissions are received
251 + state backOff
252 + --> backOff1;
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;
261 +
262 + final state gotPerm;
263 + }
264 + // Transition to the departure state
265 + >-> Dep_*_ST;
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)';
280 +
281 +
282 +
283 + // .....................................................................................
284 + // Set of track segment controlling states such as follows
285 + // .....................................................................................
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;
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)';
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;
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;
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 + };
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)';
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;
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)';
356 +
357 + // ..................................................................................
358 +
359 +
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)';
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)';
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;
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;
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 + };
396 +
397 + // Region for handling cleanup-functionalities such as above
398 + region Cleanup:
399 + initial state Entry
400 + --> cleanup with 'railContact(*_LN_5,0)';
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 + };
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;
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;
441 +
442 + // State for waiting an additional tick
443 + state success
444 + --> success1;
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 +
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)';
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;
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)';
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)';
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;
502 +
503 + state done
504 + // Transition to final state, if timer is ready
505 + --> reallyDone with 'railDeparture(trainNum)';
506 +
507 + final state reallyDone;
508 +}
509 +{{/code}}
Confluence.Code.ConfluencePageClass[0]
Id
... ... @@ -1,1 +1,1 @@
1 -9471637
1 +9471666
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/9471666/Basic design