Wiki source code of Tutorial 1 - csp

Last modified by Richard Kreissig on 2025/01/30 12:05
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1
2 = T1A1 =
3
4 == a) ==
5
6 The pace of the controller-system is given by the events in the railway-system and the laws of physics. If there's a calculation running, the controller can't stop the real world until the calculation is finished, rather it has to finish in time e.g. before a train runs over a point switch.
7
8 Furthermore the controller-system has to take the continuity of the real world into account. Values read from sensors may be discretized and therefore may not represent the actual state or may slightly differ from each other, even if you might consider two states equal from sense of proportion.
9
10 == b) ==
11
12 The controlling units are no computers you would find on an office desk. They have no monitor or mouse and keyboard. But especially they are restricted in resources like CPU power or RAM size.
13
14 == c) ==
15
16 If the controller of the railway-system produces erroneous control-commands or doesn't finish in time, trains may crash. It's therefore important to get the right result in the right moment.
17
18
19
20 = T1A2 =
21
22 === First part: KH_ST_1 → IC_ST_1 ===
23
24 Point switches to be set:
25
26 |=(((
27 Point switch
28 )))|=(((
29 value
30 )))
31 |(% colspan="1" %)(% colspan="1" %)
32 (((
33 4
34 )))|(% colspan="1" %)(% colspan="1" %)
35 (((
36 STRAIGHT
37 )))
38 |(% colspan="1" %)(% colspan="1" %)
39 (((
40 3
41 )))|(% colspan="1" %)(% colspan="1" %)
42 (((
43 STRAIGHT
44 )))
45 |(% colspan="1" %)(% colspan="1" %)
46 (((
47 2
48 )))|(% colspan="1" %)(% colspan="1" %)
49 (((
50 STRAIGHT
51 )))
52 |(% colspan="1" %)(% colspan="1" %)
53 (((
54 1
55 )))|(% colspan="1" %)(% colspan="1" %)
56 (((
57 BRANCH
58 )))
59 |(% colspan="1" %)(% colspan="1" %)
60 (((
61 0
62 )))|(% colspan="1" %)(% colspan="1" %)
63 (((
64 BRANCH
65 )))
66 |(% colspan="1" %)(% colspan="1" %)
67 (((
68 16
69 )))|(% colspan="1" %)(% colspan="1" %)
70 (((
71 BRANCH
72 )))
73 |(% colspan="1" %)(% colspan="1" %)
74 (((
75 17
76 )))|(% colspan="1" %)(% colspan="1" %)
77 (((
78 BRANCH
79 )))
80 |(% colspan="1" %)(% colspan="1" %)
81 (((
82 18
83 )))|(% colspan="1" %)(% colspan="1" %)
84 (((
85 BRANCH
86 )))
87 |(% colspan="1" %)(% colspan="1" %)
88 (((
89 20
90 )))|(% colspan="1" %)(% colspan="1" %)
91 (((
92 STRAIGHT
93 )))
94
95 Tracks:
96
97 |=(((
98 Block
99 )))|=(((
100 Direction
101 )))
102 |(% colspan="1" %)(% colspan="1" %)
103 (((
104 KH_ST_1
105 )))|(% colspan="1" %)(% colspan="1" %)
106 (((
107 REV
108 )))
109 |(% colspan="1" %)(% colspan="1" %)
110 (((
111 KH_ST_0
112 )))|(% colspan="1" %)(% colspan="1" %)
113 (((
114 REV
115 )))
116 |(% colspan="1" %)(% colspan="1" %)
117 (((
118 KIO_LN_0
119 )))|(% colspan="1" %)(% colspan="1" %)
120 (((
121 REV
122 )))
123 |(% colspan="1" %)(% colspan="1" %)
124 (((
125 OC_ST_4
126 )))|(% colspan="1" %)(% colspan="1" %)
127 (((
128 REV
129 )))
130 |(% colspan="1" %)(% colspan="1" %)
131 (((
132 IC_ST_0
133 )))|(% colspan="1" %)(% colspan="1" %)
134 (((
135 FWD
136 )))
137 |(% colspan="1" %)(% colspan="1" %)
138 (((
139 IC_ST_1
140 )))|(% colspan="1" %)(% colspan="1" %)
141 (((
142 FWD
143 )))
144
145 === Second part: IC_ST_1 → KH_ST_1 ===
146
147 Point switches to be set:
148
149 |=(((
150 Point switch
151 )))|=(((
152 value
153 )))
154 |(% colspan="1" %)(% colspan="1" %)
155 (((
156 24
157 )))|(% colspan="1" %)(% colspan="1" %)
158 (((
159 STRAIGHT
160 )))
161 |(% colspan="1" %)(% colspan="1" %)
162 (((
163 29
164 )))|(% colspan="1" %)(% colspan="1" %)
165 (((
166 BRANCH
167 )))
168 |(% colspan="1" %)(% colspan="1" %)
169 (((
170 27
171 )))|(% colspan="1" %)(% colspan="1" %)
172 (((
173 STRAIGHT
174 )))
175 |(% colspan="1" %)(% colspan="1" %)
176 (((
177 28
178 )))|(% colspan="1" %)(% colspan="1" %)
179 (((
180 STRAIGHT
181 )))
182 |(% colspan="1" %)(% colspan="1" %)
183 (((
184 9
185 )))|(% colspan="1" %)(% colspan="1" %)
186 (((
187 BRANCH
188 )))
189 |(% colspan="1" %)(% colspan="1" %)
190 (((
191 8
192 )))|(% colspan="1" %)(% colspan="1" %)
193 (((
194 STRAIGHT
195 )))
196
197 Tracks:
198
199 |=(((
200 Block
201 )))|=(((
202 Direction
203 )))
204 |(% colspan="1" %)(% colspan="1" %)
205 (((
206 IC_ST_1
207 )))|(% colspan="1" %)(% colspan="1" %)
208 (((
209 FWD
210 )))
211 |(% colspan="1" %)(% colspan="1" %)
212 (((
213 IC_ST_4
214 )))|(% colspan="1" %)(% colspan="1" %)
215 (((
216 FWD
217 )))
218 |(% colspan="1" %)(% colspan="1" %)
219 (((
220 OC_ST_0
221 )))|(% colspan="1" %)(% colspan="1" %)
222 (((
223 REV
224 )))
225 |(% colspan="1" %)(% colspan="1" %)
226 (((
227 KIO_LN_1
228 )))|(% colspan="1" %)(% colspan="1" %)
229 (((
230 REV
231 )))
232 |(% colspan="1" %)(% colspan="1" %)
233 (((
234 KH_ST_6
235 )))|(% colspan="1" %)(% colspan="1" %)
236 (((
237 REV
238 )))
239 |(% colspan="1" %)(% colspan="1" %)
240 (((
241 KH_ST_1
242 )))|(% colspan="1" %)(% colspan="1" %)
243 (((
244 REV
245 )))
246
247 == Plan ==
248
249 * Set points and tracks and (busy) wait for a entry contact event on target block.
250 * Lower speed and wait for the target contact event and brake the train.
251 * Wait 5 seconds and repeat for the way back.
252
253 == Implementation ==
254
255
256 [[SampleController.c>>attach:SampleController.c]]
257
258 = T1A3 =
259
260
261
262 == Differences from initial expectation ==
263
264
265
266 (((
267 * In opposite to points 16/17, points 27/28 have to be set STRAIGHT to cross the track.
268 * Numbering of contacts and signals.
269 * Waiting for only one entry-block-event isn't sufficient. The speed might be lowered before the train's locomotive fully entered the block (backwards travelling train) and raise a speed-mismatch-exception. Although not critical, it may produce unexpected results on the real railway-system.
270 * Events are buffered and must be "cleared" before waiting on a specific contact event.
271
272 == Further expected differences ==
273
274 * Trains don't stop immediately.
275 * Contacts may not be triggered.
276 * Points may not switch correctly or even block.
277 )))
278
279

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