...
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.
Structure
Code Block | ||||
---|---|---|---|---|
| ||||
scchart Test2b "Test of IC_JCT" {
bool IC_JCT_0_req[11], IC_LN_0_req[11], IC_LN_1_req[11], IC_LN_2_req[11];
bool IC_LN_3_req[11], IC_LN_4_req[11], IC_LN_5_req[11], IC_ST_0_req[11];
bool IC_ST_1_req[11], IC_ST_2_req[11], IC_ST_3_req[11], IC_ST_4_req[11];
bool IO_LN_0_req[11], IO_LN_1_req[11], IO_LN_2_req[11], KH_LN_0_req[11];
bool KH_LN_1_req[11], KH_LN_2_req[11], KH_LN_3_req[11], KH_LN_4_req[11];
bool KH_LN_5_req[11], KH_LN_6_req[11], KH_LN_7_req[11], KH_LN_8_req[11];
bool KH_ST_0_req[11], KH_ST_1_req[11], KH_ST_2_req[11], KH_ST_3_req[11];
bool KH_ST_4_req[11], KH_ST_5_req[11], KH_ST_6_req[11], KIO_LN_0_req[11];
bool KIO_LN_1_req[11], OC_JCT_0_req[11], OC_LN_0_req[11], OC_LN_1_req[11];
bool OC_LN_2_req[11], OC_LN_3_req[11], OC_LN_4_req[11], OC_LN_5_req[11];
bool OC_ST_0_req[11], OC_ST_1_req[11], OC_ST_2_req[11], OC_ST_3_req[11];
bool OC_ST_4_req[11], OI_LN_0_req[11], OI_LN_1_req[11], OI_LN_2_req[11];
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;
int IC_JCT_0_perm, IC_LN_0_perm, IC_LN_1_perm, IC_LN_2_perm;
int IC_LN_3_perm, IC_LN_4_perm, IC_LN_5_perm, IC_ST_0_perm;
int IC_ST_1_perm, IC_ST_2_perm, IC_ST_3_perm, IC_ST_4_perm;
int IO_LN_0_perm, IO_LN_1_perm, IO_LN_2_perm, KH_LN_0_perm;
int KH_LN_1_perm, KH_LN_2_perm, KH_LN_3_perm, KH_LN_4_perm;
int KH_LN_5_perm, KH_LN_6_perm, KH_LN_7_perm, KH_LN_8_perm;
int KH_ST_0_perm, KH_ST_1_perm, KH_ST_2_perm, KH_ST_3_perm;
int KH_ST_4_perm, KH_ST_5_perm, KH_ST_6_perm, KIO_LN_0_perm;
int KIO_LN_1_perm, OC_JCT_0_perm, OC_LN_0_perm, OC_LN_1_perm;
int OC_LN_2_perm, OC_LN_3_perm, OC_LN_4_perm, OC_LN_5_perm;
int OC_ST_0_perm, OC_ST_1_perm, OC_ST_2_perm, OC_ST_3_perm;
int OC_ST_4_perm, OI_LN_0_perm, OI_LN_1_perm, OI_LN_2_perm;
bool debug = false;
bool cleanup = false;
int trainCount;
const int c_EINS = 1;
const int c_ZWEI = 2;
const int c_DREI = 3;
const int c_VIER = 4;
const int c_FUENF = 5;
initial state init references initRailway11Trains
--> run;
state run {
region Mutexes:
initial state Mutexes references mutexRailway11Trains;
region KH_Mutexes:
initial state KH_Mutexes references kh_mutex;
region Train4 :
initial state train4 {
@alterHostcode
const int trainNum = 4;
int arrivalTrack = 3;
initial state Round references ICIC
bind depTrack to arrivalTrack,
destTrack to c_DREI,
arrTrack to arrivalTrack
>-> Choice;
state Choice
--> Round with !cleanup | !(arrivalTrack == 3)
--> Done;
final state Done;
};
region Train5 :
initial state train5 {
@alterHostcode
const int trainNum = 5;
int arrivalTrack = 2;
initial state Round references ICIC
bind depTrack to arrivalTrack,
destTrack to c_ZWEI,
arrTrack to arrivalTrack
>-> Choice;
state Choice
--> Round with !cleanup | !(arrivalTrack == 2)
--> Done;
final state Done;
};
region Train9 :
initial state train9 {
@alterHostcode
const int trainNum = 9;
int arrivalTrack = 1;
initial state Round references ICIC
bind depTrack to arrivalTrack,
destTrack to c_EINS,
arrTrack to arrivalTrack
>-> Choice;
state Choice
--> Round with !cleanup | !(arrivalTrack == 1)
--> Done;
final state Done;
};
region Train7 :
initial state train7 {
@alterHostcode
const int trainNum = 7;
int arrivalTrack = 1;
initial state OCtoIC references OCIC
bind depTrack to arrivalTrack,
destTrack to c_ZWEI,
arrTrack to arrivalTrack
>-> ICtoOC;
state ICtoOC references ICOC
bind depTrack to arrivalTrack,
destTrack to c_EINS,
arrTrack to arrivalTrack
>-> Choice;
state Choice
--> OCtoIC with !cleanup | !(arrivalTrack == 1)
--> Done;
final state Done;
};
};
} |
Station-2-Station controller
...
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.
Next the train must wait for int railDeparture(int train) to return 1.
After the waiting has finished the controller can reach a final state and pass the control back to the train controller.
Structure
Code Block | ||||
---|---|---|---|---|
| ||||
// // Structure of a Station-2-Station controller from Station * to Station * // scchart STST " * to * Controller " { // Set of permission variables for required tracks input int *_perm; // Set of request variables for required tracks for 11 trains output bool *_req[11]; // Train number input int trainNum; // Number of the departure track in a station input int depTrack; // Number of the destination track in a station input int destTrack; // Cleanup flag for selecting the destination track input bool cleanup; // Debug flag for additional output input bool debug; // Arrival track output int arrTrack; // Variable with value for arrTrack for selecting correct station elements int i_arrOnTrack; // Handles departing from a station * initial state *_ST { // hostcode call for additional output when debug entry debug / 'println([trainNum][ST-ST] ... )'; // State, which sets requests for needed tracks initial state waitForPerm { entry / *_ST_4_req[trainNum] = true; entry / *_LN_0_req[trainNum] = true; } // Transition is taken, if all permissions are received --> gotPerm with (*_ST_4_perm == trainNum) & (*_LN_0_perm == trainNum) // Transition is taken, if some (not all) permissions are received --> backOff with (*_ST_4_perm == trainNum) | (*_LN_0_perm == trainNum); // State for waiting an additional tick when not all permissions are received state backOff --> backOff1; // State, which releases the requests for needed tracks state backOff1 { entry / *_ST_4_req[trainNum] = false; entry / *_LN_0_req[trainNum] = false; } // Transition to repeat requesting permissions procedure --> waitForPerm; final state gotPerm; } // Transition to the departure state >-> Dep_*_ST; // State, which handles the departure of a train state Dep_*_ST { // Set of entry-Actions with hostcode calls to set tracks, points and signals according to depTrack entry / 'railPoint(*,STRAIGHT)'; entry / 'railSignal(*_LN_0, FWD, RED)'; entry / 'railTrack(*_LN_0,FWD,trainNum,NORMAL)'; entry / 'railTrack(*_ST_4,FWD,trainNum,NORMAL)'; entry depTrack == 1 / 'railSignal(*_ST_1, FWD, GREEN)'; entry depTrack == 2 / 'railSignal(*_ST_2, FWD, GREEN)'; entry depTrack == 3 / 'railSignal(*_ST_3, FWD, GREEN)'; //... // Transition to next track segment, if contact is triggered } --> *_LN_0 with 'railContact(*_LN_0,0)'; // ..................................................................................... // Set of track segment controlling states such as follows // ..................................................................................... // Transition to next track segment, if contact is triggered state *_LN_0 { // Hostcode calls for outputs entry / 'println("[trainNum][ST-ST] Entering *_LN_0")'; entry debug / 'println("[trainNum][ST-ST] Requesting permission for *_LN_1")'; // Entry-Actions with hostcode calls to set previous signal according to depTrack to RED entry depTrack == 1 / 'railSignal(*_ST_1, FWD, RED)'; entry depTrack == 2 / 'railSignal(*_ST_2, FWD, RED)'; entry depTrack == 3 / 'railSignal(*_ST_3, FWD, RED)'; // Requesting the next track segment entry / *_LN_1_req[trainNum] = true; // Region for handling train driving region Travel: initial state Entry // Transition to continuing state, if permitted --> Continue with 'railContact(*_LN_0,0)' & (*_LN_1_perm == trainNum) // Transition to slowing down else --> Slowdown with 'railContact(*_LN_0,0)'; // State for slowing down the train state Slowdown { entry debug / 'println("[trainNum][ST-ST] Slowing down on *_LN_0")'; // Entry-Action with hostcode calls for slowing down the train entry / 'railTrack(*_LN_0,FWD,trainNum,CAUTION)'; } // Transition to waiting state --> Waiting with 'railContact(*_LN_0,1)' // Transition to continuing state, if permitted --> Continue with *_LN_1_perm == trainNum; // State for train waiting on permission state Waiting { entry debug / 'println("[trainNum][ST-ST] Stopping on *_LN_0")'; // Entry-Action with hostcode call for stopping the train entry / 'railTrackBrake(*_LN_0)'; } --> Continue with *_LN_1_perm == trainNum; // State to continuing driving on the track final state Continue { entry debug / 'println("[trainNum][ST-ST] Continuing on *_LN_0")'; // Entry-Actions with hostcode calls to set tracks and signals for driving entry / 'railSignal(*_LN_0,FWD,GREEN)'; entry / 'railTrack(*_LN_0,FWD,trainNum,NORMAL)'; entry / 'railTrack(*_LN_1,FWD,trainNum,NORMAL)'; entry / 'railSignal(*_LN_1, FWD, RED)'; }; // Region for handling cleanup functionalities region Cleanup: initial state Entry // Transition to cleanup state --> cleanup with 'railContact(*_LN_0,0)'; // State for cleaning up the previous track segments final state cleanup { entry debug / 'println("[trainNum][ST-ST] Entered *_LN_0 completely")'; // Entry-Action with hostcode call to switching off the previous track entry / 'railTrackOff(*_ST_4)'; // Entry-Action to release the previous track entry / *_ST_4_req[trainNum] = false; }; // Transition to transitional state }>-> *_LN_0_*_LN_1; state *_LN_0_*_LN_1 // Transition to next track segment, if contact is triggered --> *_LN_1 with 'railContact(*_LN_1,0)'; // .................................................................................. // State for entering a station state *_LN_5 { // Variable for checking all needed permissions int perm_all_next_segments = false; entry / 'println("[trainNum][ST-ST] Entering *_LN_5")'; entry / 'railSignal(*_LN_4, FWD, RED)'; // Region for handling train driving such as above, // only with perm_all_next_segments for permitting more than one track region Travel: initial state Entry --> Continue with 'railContact(*_LN_5,0)' & perm_all_next_segments --> Slowdown with 'railContact(*_LN_5,0)'; state Slowdown { entry debug / 'println("[trainNum][ST-ST] Slowing down on *_LN_5")'; entry / 'railTrack(*_LN_5,FWD,trainNum,CAUTION)'; } --> Waiting with 'railContact(*_LN_5,1)' --> Continue with perm_all_next_segments; state Waiting { entry debug / 'println("[trainNum][ST-ST] Stopping on *_LN_5")'; entry / 'railTrackBrake(*_LN_5)'; } --> Continue with perm_all_next_segments; final state Continue { entry debug / 'println("[trainNum][ST-ST] Continuing on *_LN_5")'; entry i_arrOnTrack == 1 / 'railTrack(*_ST_1,FWD,trainNum,NORMAL)'; entry i_arrOnTrack == 2 / 'railTrack(*_ST_2,FWD,trainNum,NORMAL)'; entry i_arrOnTrack == 3 / 'railTrack(*_ST_3,FWD,trainNum,NORMAL)'; //... entry / arrTrack = i_arrOnTrack; }; // Region for handling cleanup-functionalities such as above region Cleanup: initial state Entry --> cleanup with 'railContact(*_LN_5,0)'; final state cleanup { entry debug / 'println("[trainNum][ST-ST] Entered *_LN_5 completely")'; entry / 'railTrackOff(*_LN_4)'; entry / *_LN_4_req[trainNum] = false; }; // Region for handling permissions of all needed tracks region Permissions: // State for requesting all needed tracks according to destination track and cleanup-Flag initial state checking { entry / *_ST_0_req[trainNum] = true; entry destTrack == 1 | !cleanup / *_ST_1_req[trainNum] = true; entry destTrack == 2 | !cleanup / *_ST_2_req[trainNum] = true; entry destTrack == 3 | !cleanup / *_ST_3_req[trainNum] = true; } // Transitions for permitted tracks match wished tracks --> success with destTrack == 1 & *_ST_0_perm == trainNum & *_ST_1_perm == trainNum / i_arrOnTrack = 1 --> success with destTrack == 2 & *_ST_0_perm == trainNum & *_ST_2_perm == trainNum / i_arrOnTrack = 2 --> success with destTrack == 3 & *_ST_0_perm == trainNum & *_ST_3_perm == trainNum / i_arrOnTrack = 3 // Transitions for permitted tracks don't match wished tracks --> success with *_ST_0_perm == trainNum & *_ST_1_perm == trainNum / i_arrOnTrack = 1 --> success with *_ST_0_perm == trainNum & *_ST_2_perm == trainNum / i_arrOnTrack = 2 --> success with *_ST_0_perm == trainNum & *_ST_3_perm == trainNum / i_arrOnTrack = 3 // Transition for not all tracks permitted --> resolving with *_ST_0_perm == trainNum | *_ST_3_perm == trainNum | *_ST_2_perm == trainNum | *_ST_1_perm == trainNum; // State for waiting an additional tick state resolving --> resolving1; // State for releasing track requests state resolving1 { entry / *_ST_0_req[trainNum] = false; entry / *_ST_1_req[trainNum] = false; entry / *_ST_2_req[trainNum] = false; entry / *_ST_3_req[trainNum] = false; } // Transition for trying the requesting again --> checking; // State for waiting an additional tick state success --> success1; // State for releasing not used track requests final state success1 { entry !(i_arrOnTrack == 1) / *_ST_1_req[trainNum] = false; entry !(i_arrOnTrack == 2) / *_ST_2_req[trainNum] = false; entry !(i_arrOnTrack == 3) / *_ST_3_req[trainNum] = false; // Settting perm_all_next_segments to true entry / perm_all_next_segments = true; }; // Transition to station entry states }>-> *_LN_5_*_ST; // State waiting for station entry state *_LN_5_*_ST --> Arr_*_ST with i_arrOnTrack == 1 & 'railContact(*_ST_1,0)' --> Arr_*_ST with i_arrOnTrack == 2 & 'railContact(*_ST_2,0)' --> Arr_*_ST with i_arrOnTrack == 3 & 'railContact(*_ST_3,0)'; // State for setting tracks, points and signals according to i_arrOnTrack // and releasing previous track request state Arr_*_ST { entry / 'railSignal(*_LN_5, FWD, RED)'; entry / 'railTrackOff(*_LN_5)'; entry / 'railTrack(*_ST_0,FWD,trainNum,SLOW)'; entry i_arrOnTrack == 1 / 'railTrack(*_ST_1,FWD,trainNum,SLOW)'; entry i_arrOnTrack == 2 / 'railTrack(*_ST_2,FWD,trainNum,SLOW)'; entry i_arrOnTrack == 3 / 'railTrack(*_ST_3,FWD,trainNum,SLOW)'; entry / *_LN_5_req[trainNum] = false; initial state SlowEntry --> Slow with i_arrOnTrack == 1 & 'railContact(*_ST_1,0)' --> Slow with i_arrOnTrack == 2 & 'railContact(*_ST_2,0)' --> Slow with i_arrOnTrack == 3 & 'railContact(*_ST_3,0)'; // State for switching off previous track and releasing the request state Slow { entry / 'railTrackOff(*_ST_0)'; entry / *_ST_0_req[trainNum] = false; } // Transitions to halt state, when train is at second contact of a track segment --> Halt with i_arrOnTrack == 1 & 'railContact(*_ST_1,1)' --> Halt with i_arrOnTrack == 2 & 'railContact(*_ST_2,1)' --> Halt with i_arrOnTrack == 3 & 'railContact(*_ST_3,1)'; final state Halt { // Entry-Actions for braking the train on correct track entry i_arrOnTrack == 1 / 'railTrackBrake(*_ST_1)'; entry i_arrOnTrack == 2 / 'railTrackBrake(*_ST_2)'; entry i_arrOnTrack == 3 / 'railTrackBrake(*_ST_3)'; // Entry-Actions for waiting for timer on correct track entry i_arrOnTrack == 1 / 'railArrival(trainNum, *_ST_1)'; entry i_arrOnTrack == 2 / 'railArrival(trainNum, *_ST_2)'; entry i_arrOnTrack == 3 / 'railArrival(trainNum, *_ST_3)'; }; } >-> done; state done // Transition to final state, if timer is ready --> reallyDone with 'railDeparture(trainNum)'; final state reallyDone; } |