Example: Model Train Controller
Purposes of example:
Follow a design through several levels of abstraction.
Gain experience with UML.
Text: Section 1.4
Model train setup
rcvr motor
power
supply
console
header address command ECC
Requirements
Console controls up to 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.
Ignore erroneous messages
Requirements form
name model train controller
purpose control speed of <= 8 model trains
inputs throttle, inertia, emergency stop,
train #
outputs train control signals
functions set engine speed w. inertia;
emergency stop
performance can update train speed at least 10
times/sec
manufacturing cost $50
power wall powered
physical console comfortable for 2 hands; < 2
size/weight lbs.
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 parameters
set-speed speed (positive/negative)
set-inertia inertia-value (non-negative)
estop none
Typical control sequence
:console :train_rcvr
set-inertia
set-speed
Time set-speed Receiver
always
“listening”
estop
Console always
monitoring
buttons/knobs set-speed
Message classes
command base class
set-speed set-inertia estop
value: unsigned-
value: integer
integer
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): interaction via commands
sequence message type
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
roles and relationships.
Major subsystem roles
Console: Train:
read state of front panel; receive message;
format messages; interpret message;
transmit messages. control the train.
Console system class diagram
console
1 1
1 1 1 1
panel formatter transmitter
1 1 1
1
knobs* * = physical object sender*
panel: describes analog knobs and interface hardware.
formatter: turns knob settings into bit streams.
transmitter: sends data on track.
Train system class diagram
train set
1 1..t
1 1
train
1 1 motor
receiver interface
1 1
1 controller 1 1
1
detector* pulser*
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 system analog physical object classes
knobs* pulser*
train-knob: integer pulse-width: unsigned-
speed-knob: integer integer
inertia-knob: unsigned- direction: boolean
integer
emergency-stop: boolean
sender* detector*
set_knobs()
send-bit() read-bit() : integer
Motor
controlled by duty cycle +
pulse width V
modulation: -
Panel and motor interface classes
panel class defines the controls.
new-settings() function reads the controls.
motor-interface class defines the motor speed/inertia,
held as state.
panel motor-interface
speed: integer
train-number() : integer inertia: integer
speed() : integer
inertia() : integer
estop() : boolean
new-settings()
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
train’s speed, etc.
Controlling throttle/inertia/estop:
read panel, check for changes, perform command.
Transmitter and receiver classes
transmitter class has one method for each type of message sent.
receiver class provides methods to:
detect a new message;
determine its type;
read its parameters (estop has no parameters).
transmitter receiver
current: command
send-speed(adrs: integer, new: boolean
speed: integer)
send-inertia(adrs: integer, read-cmd()
val: integer) new-cmd() : boolean
send-estop(adrs: integer) rcv-type(msg-type:
command)
rcv-speed(val: integer)
rcv-inertia(val:integer)
Formatter class
Formatter class holds state for each train, setting for current
train.
The operate() operation performs the basic formatting task.
formatter
current-train: integer
current-speed[ntrains]: integer
current-inertia[ntrains]:
unsigned-integer
current-estop[ntrains]: boolean
send-command()
panel-active() : boolean
operate()
Control input sequence diagram:sender*
:knobs* :panel :formatter :transmitter
change in read panel
change in change in speed/
control
train number inertia/estop
settings panel settings panel-active
read panel
send-command
panel settings send-speed,
send-inertia.
change in read panel send-estop
train panel settings
number
new-settings
set-knobs
Formatter operate() behavior
(in the formatter class)
update-panel()
panel-active() new train number
idle
send-command()
other
Formatter panel-active() behavior
(in the formatter class)
T current-train = train-knob
panel*:read-train() update-screen
changed = true
current-train != train-knob F
T
panel*:read-speed() current-speed = throttle
changed = true
current-speed != throttle F
... ...
Train 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
Don’t want to change speed instantaneously.
Controller should change speed gradually by sending
several commands.
Controller operate behavior
wait for a
command
from receiver
receive-command()
issue-command()
Sequence diagram for set-speed cmd.
:detector*
:receiver :controller :motor-interface :pulser*
new-cmd
cmd-type
rcv-speed set-speed set-pulse
set-pulse
set-pulse
set-pulse
set-pulse
Refined command classes
command
type: 3-bits
address: 3-bits
parity: 1-bit
set-speed set-inertia estop
type=010 type=001
type=000
value: 7-bits value: 3-bits
Summary
Separate specification and programming.
Small mistakes are easier to fix in the spec.
Big mistakes in programming cost a lot of time.
You can’t completely separate specification and
architecture.
Make a few tasteful assumptions.
