Example: Model Train Controller

Introduction
Example: model train controller.
Purposes of example
Follow a design through several levels of abstraction. Gain experience with UML.
Model train setup

rcvr motor
power supply console
ECC
command
address
header
Requirements
Console can control 8 trains on 1 track. Throttle has at least 63 levels. Inertia control adjusts responsiveness with at least 8 levels. Emergency stop button. Error detection scheme on messages.
Requirements form
name purpose inputs model train controller control speed of <= 8model trains throttle, inertia, emergency stop, train # outputs train control signals functions set engine speed w. inertia; emergency stop performance can update train speed at least 88 times/sec manufacturing cost$88 power wall powered physical console comfortable for 8hands; < 8 size/weight lbs.
Digital Command Control

DCC created by model railroad hobbyists, picked up by industry. Defines way in which model trains, controllers communicate.
Leaves many system design aspects open, allowing competition.
This is a simple example of a big trend:

Cell phones, digital TV rely on standards.
DCC documents
Standard S-9.1, DCC Electrical Standard.
Defines how bits are encoded on the rails.
Standard S-9.2, DCC Communication Standard.

Defines packet format and semantics.
DCC electrical standard

Voltage moves around the power supply voltage; adds no DC component. 1 is 58 s, 0 is at least 100 s.
logic 1 logic 0
time 58 s >= 100 s
DCC communication standard

Basic packet format: PSA(sD)+E. P: preamble = 1111111111. S: packet start bit = 0. A: address data byte. s: data byte start bit. D: data byte (data payload). E: packet end bit = 1.
DCC packet types

Baseline packet: minimum packet that must be accepted by all DCC implementations.
Address data byte gives receiver address. Instruction data byte gives basic instruction. Error correction data byte gives ECC.
Conceptual specification
Before we create a detailed specification, we will make an initial, simplified specification.
Gives us practice in specification and UML. Good idea in general to identify potential problems before investing too much effort in detail.
Basic system commands

command name set-speed set-inertia estop parameters speed (positive/negative) inertia-value (nonnegative) none
Typical control sequence

:console set-inertia set-speed set-speed estop set-speed :train_rcvr
Message classes
command
set-speed value: integer
set-inertia value: unsignedinteger
estop
Roles of message classes

Implemented message classes derived from message class.
Attributes and operations will be filled in for detailed specification.
Implemented message classes specify message type by their class.

May have to add type as parameter to data structure in implementation.
Subsystem collaboration diagram

Shows relationship between console and receiver (ignores role of track):
1..n: command :console :receiver
System structure modeling

Some classes define non-computer components.
Denote by *name.
Choose important systems at this point to show basic relationships.
Major subsystem roles

Console:
read state of front panel; format messages; transmit messages.
Train:
receive message; interpret message; control the train.
Console system classes

1 1 panel 1 receiver* 1 console 1 1 formatter 1 1 transmitter 1 1 sender*
Console class roles

panel: describes analog knobs and interface hardware. formatter: turns knob settings into bit streams. transmitter: sends data on track.
Train system classes

train set 1 1..t train 1 1 controller 1 1 motor interface 1 1 pulser*
1 receiver 1 detector* 1 1
Train class roles

receiver: digitizes signal from track. controller: interprets received commands and makes control decisions. motor interface: generates signals required by motor.
Detailed specification
We can now fill in the details of the conceptual specification:
more classes; behaviors.
Sketching out the spec first helps us understand the basic relationships in the system.
Train speed control

Motor controlled by pulse width modulation:
duty cycle
+ V -
Console physical object classes

knobs* train-knob: integer speed-knob: integer inertia-knob: unsignedinteger emergency-stop: boolean pulser* pulse-width: unsignedinteger direction: boolean sender* send-bit() detector* read-bit() : integer
Panel and motor interface classes

panel train-number() : integer speed() : integer inertia() : integer estop() : boolean new-settings() motor-interface speed: integer
Class descriptions
panel class defines the controls.
new-settings() behavior reads the controls.
motor-interface class defines the motor speed held as state.
Transmitter and receiver classes

transmitter send-speed(adrs: integer, speed: integer) send-inertia(adrs: integer, val: integer) set-estop(adrs: integer) receiver current: command new: boolean read-cmd() new-cmd() : boolean rcv-type(msg-type: command) rcv-speed(val: integer) rcv-inertia(val:integer)
Class descriptions
transmitter class has one behavior for each type of message sent. receiver function provides methods to:
detect a new message; determine its type; read its parameters (estop has no parameters).
Formatter class
formatter current-train: integer current-speed[ntrains]: integer current-inertia[ntrains]: unsigned-integer current-estop[ntrains]: boolean send-command() panel-active() : boolean operate()
Formatter class description

Formatter class holds state for each train, setting for current train. The operate() operation performs the basic formatting task.
Control input cases

Use a soft panel to show current panel settings for each train. Changing train number:
must change soft panel settings to reflect current trains speed, etc.
Controlling throttle/inertia/estop:
read panel, check for changes, perform command.
Control input sequence diagram

change in change in speed/ train number inertia/estop :knobs :panel :formatter :transmitter change in read panel panel-active control panel settings settings send-command read panel send-speed, send-inertia. panel settings send-estop read panel change in panel settings train number new-settings set-knobs
Formatter operate behavior

update-panel() panel-active() idle other send-command() new train number
Panel-active behavior
T panel*:read-train() F T panel*:read-speed() F ... ... current-train = train-knob update-screen changed = true
current-speed = throttle changed = true
Controller class
controller current-train: integer current-speed[ntrains]: integer current-direction[ntrains]: boolean current-inertia[ntrains]: unsigned-integer operate() issue-command()
Setting the speed

Dont want to change speed instantaneously. Controller should change speed gradually by sending several commands.
Sequence diagram for setspeed command

:receiver :controller new-cmd cmd-type rcv-speed :motor-interface :pulser*
set-speed
set-pulse set-pulse set-pulse set-pulse set-pulse
Controller operate behavior

wait for a command from receiver
receive-command() issue-command()
Refined command classes

command type: 3-bits address: 3-bits parity: 1-bit
set-speed type=010 value: 7-bits
set-inertia type=001 value: 3-bits
estop type=000
Summary
Separate specification and programming.
Small mistakes are easier to fix in the spec. Big mistakes in programming cost a lot of time.
You cant completely separate specification and architecture.

Make a few tasteful assumptions.

Example: Model Train Controller

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Introduction

Example: model train controller.

Model train setup

power supply console

Digital Command Control

This is a simple example of a big trend:

Standard S-9.2, DCC Communication Standard.

DCC electrical standard

time 58 s >= 100 s

DCC communication standard

DCC packet types

Basic system commands

Typical control sequence

set-speed value: integer

set-inertia value: unsignedinteger

Roles of message classes

Implemented message classes specify message type by their class.

Subsystem collaboration diagram

System structure modeling

Choose important systems at this point to show basic relationships.

Major subsystem roles

Console system classes

Console class roles

Train system classes

Train class roles

Train speed control

Console physical object classes

Panel and motor interface classes

motor-interface class defines the motor speed held as state.

Transmitter and receiver classes

Formatter class description

Control input cases

Control input sequence diagram

Formatter operate behavior

current-speed = throttle changed = true

Setting the speed

Sequence diagram for setspeed command

set-pulse set-pulse set-pulse set-pulse set-pulse

Controller operate behavior

Refined command classes

set-speed type=010 value: 7-bits

set-inertia type=001 value: 3-bits

You cant completely separate specification and architecture.

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