Wiki source code of Basic design
Version 16.1 by sna on 2014/08/13 02:41
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4.1 | 1 | |
| 2 | |||
| 3 | {{toc/}} | ||
| 4 | |||
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1.1 | 5 | We compose our railway controller from several train controllers, combined with controllers for mutual exclusion. |
| 6 | |||
| 7 | == Mutual Exclusion == | ||
| 8 | |||
| 9 | === Normal segments === | ||
| 10 | |||
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3.1 | 11 | **For each block** we generate one mutex controller, similar to the following pattern. |
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1.1 | 12 | |
| 13 | [[image:attach:Mutex.png]] | ||
| 14 | |||
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3.1 | 15 | **For each controlled train** one state and the corresponding transitions are added. |
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1.1 | 16 | |
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6.1 | 17 | A train **must** signal the wish to enter a segment by setting the variable **bool <segment>_req[trainNum] **to true. |
| 18 | The right to enter a segement is given to the train by setting the variable **int <segment>_perm** to the train number. | ||
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9.1 | 19 | After leaving a segment the train **must** remove its request by setting <segment>_req[trainNum] to false again. |
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6.1 | 20 | |
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9.1 | 21 | For a free track the *_perm variable is set to -1 and all tracks, apart from starting positions, are initialized with -1. For the starting positions the *_perm variables are set to the corresponding train number and the *_req variable for the train is set to true. |
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1.1 | 22 | |
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3.1 | 23 | **A train must not enter a segment or alter the settings of a segment without holding the lock for the segment. No exceptions from this rule are allowed.** |
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1.1 | 24 | |
| 25 | === Kicking Horse Pass === | ||
| 26 | |||
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3.1 | 27 | To prevent collisions on the track, a special controller manages the rights to enter or leave the Kicking Horse Pass. |
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1.1 | 28 | |
| 29 | [[image:attach:Mutex_KH.png]] | ||
| 30 | |||
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3.1 | 31 | The controller splits the pass into two parts, //left// and //right//, corresponding to the track layout chart. [[(Simplified track layout)>>url:http://www.informatik.uni-kiel.de/~~railway/Downloads/kscheme.pdf||shape="rect"]] |
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1.1 | 32 | |
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9.1 | 33 | Each part has two operational modes, //in// and //out//, being active when trains are allowed to either enter or leave the pass. When entering the pass the controller counts the entering trains and only lets two trains enter (one after the other). When leaving the pass the trains are removed from the counter, freeing space for the next train. |
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3.1 | 34 | |
| 35 | == Train controller == | ||
| 36 | |||
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14.1 | 37 | Each train controller is set in a separate region with a referenced state. This state has the following interface: |
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3.1 | 38 | |
| 39 | |||
| 40 | \\\\\\\\ | ||
| 41 | |||
| 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 | |||
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14.1 | 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. |
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3.1 | 45 | |
| 46 | == Station-2-Station controller == | ||
| 47 | |||
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14.1 | 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. |
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3.1 | 49 | |
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14.1 | 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. |
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4.1 | 51 | |
| 52 | [[image:attach:ICIC.png]] | ||
| 53 | |||
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5.1 | 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. | ||
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10.1 | 57 | |
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15.1 | 58 | === Structure === |
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10.1 | 59 | |
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15.1 | 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 " { | ||
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10.1 | 65 | |
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15.1 | 66 | // Set of permission variables for required tracks |
| 67 | input int *_perm; | ||
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10.1 | 68 | |
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15.1 | 69 | // Set of request variables for required tracks for 11 trains |
| 70 | output bool *_req[11]; | ||
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10.1 | 71 | |
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15.1 | 72 | // Train number |
| 73 | input int trainNum; | ||
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10.1 | 74 | |
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15.1 | 75 | // Number of the departure track in a station |
| 76 | input int depTrack; | ||
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10.1 | 77 | |
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15.1 | 78 | // Number of the destination track in a station |
| 79 | input int destTrack; | ||
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10.1 | 80 | |
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15.1 | 81 | // Cleanup flag for selecting the destination track |
| 82 | input bool cleanup; | ||
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10.1 | 83 | |
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15.1 | 84 | // Debug flag for additional output |
| 85 | input bool debug; | ||
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10.1 | 86 | |
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15.1 | 87 | // Arrival track |
| 88 | output int arrTrack; | ||
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10.1 | 89 | |
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15.1 | 90 | // Variable with value for arrTrack for selecting correct station elements |
| 91 | int i_arrOnTrack; | ||
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10.1 | 92 | |
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15.1 | 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] ... )'; | ||
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10.1 | 97 | |
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15.1 | 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); | ||
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10.1 | 107 | |
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15.1 | 108 | // State for waiting an additional tick when not all permissions are received |
| 109 | state backOff | ||
| 110 | --> backOff1; | ||
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10.1 | 111 | |
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15.1 | 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; | ||
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10.1 | 119 | |
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15.1 | 120 | final state gotPerm; |
| 121 | } | ||
| 122 | // Transition to the departure state | ||
| 123 | >-> Dep_*_ST; | ||
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10.1 | 124 | |
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15.1 | 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)'; | ||
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10.1 | 138 | |
| 139 | |||
| 140 | |||
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15.1 | 141 | // ..................................................................................... |
| 142 | // Set of track segment controlling states such as follows | ||
| 143 | // ..................................................................................... | ||
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10.1 | 144 | |
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15.1 | 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; | ||
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10.1 | 156 | |
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15.1 | 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)'; | ||
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10.1 | 164 | |
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15.1 | 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; | ||
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10.1 | 175 | |
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15.1 | 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; | ||
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10.1 | 183 | |
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15.1 | 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 | }; | ||
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10.1 | 193 | |
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15.1 | 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)'; | ||
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10.1 | 199 | |
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15.1 | 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; | ||
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10.1 | 210 | |
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15.1 | 211 | state *_LN_0_*_LN_1 |
| 212 | // Transition to next track segment, if contact is triggered | ||
| 213 | --> *_LN_1 with 'railContact(*_LN_1,0)'; | ||
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10.1 | 214 | |
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15.1 | 215 | // .................................................................................. |
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10.1 | 216 | |
| 217 | |||
| 218 | |||
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15.1 | 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)'; | ||
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10.1 | 225 | |
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15.1 | 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)'; | ||
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10.1 | 232 | |
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15.1 | 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; | ||
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10.1 | 239 | |
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15.1 | 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; | ||
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10.1 | 245 | |
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15.1 | 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 | }; | ||
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10.1 | 254 | |
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15.1 | 255 | // Region for handling cleanup-functionalities such as above |
| 256 | region Cleanup: | ||
| 257 | initial state Entry | ||
| 258 | --> cleanup with 'railContact(*_LN_5,0)'; | ||
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10.1 | 259 | |
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15.1 | 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 | }; | ||
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10.1 | 265 | |
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15.1 | 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; | ||
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10.1 | 285 | |
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15.1 | 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; | ||
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10.1 | 299 | |
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15.1 | 300 | // State for waiting an additional tick |
| 301 | state success | ||
| 302 | --> success1; | ||
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10.1 | 303 | |
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15.1 | 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; | ||
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10.1 | 314 | |
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15.1 | 315 | // State waiting for station entry |
| 316 | state *_LN_5_*_ST | ||
| 317 | --> Arr_*_ST with i_arrOnTrack == 1 & 'railContact(*_ST_1,0)' | ||
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16.1 | 318 | --> Arr_*_ST with i_arrOnTrack == 2 & 'railContact(*_ST_2,0)' |
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15.1 | 319 | --> Arr_*_ST with i_arrOnTrack == 3 & 'railContact(*_ST_3,0)'; |
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10.1 | 320 | |
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15.1 | 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; | ||
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10.1 | 331 | |
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15.1 | 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)'; | ||
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10.1 | 336 | |
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15.1 | 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)'; | ||
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10.1 | 346 | |
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15.1 | 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; | ||
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10.1 | 360 | |
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15.1 | 361 | state done |
| 362 | // Transition to final state, if timer is ready | ||
| 363 | --> reallyDone with 'railDeparture(trainNum)'; | ||
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10.1 | 364 | |
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15.1 | 365 | final state reallyDone; |
| 366 | } | ||
| 367 | {{/code}} |