modelWithMitigation.xml

<?xml version="1.0" encoding="utf-8"?>
<!DOCTYPE nta PUBLIC '-//Uppaal Team//DTD Flat System 1.1//EN' 'http://www.it.uu.se/research/group/darts/uppaal/flat-1_2.dtd'>
<nta>
	<declaration>const int freq = 5;    //every 5 seconds send location
const int bound=600;

const int Lsafemargin = 300;  

//********** OCC ***********

int OCCconnectedCounter=0;

//********   Tram  ***********

const int nTram=1;
int l[nTram];   //tram length -- 10 by default

clock Lv[nTram];    //Lv is updated continuously by OBU
//int speed[nTram];

typedef int[0,nTram-1] id_tram;
int epsilon[nTram];

//********   TCV   ***********

const int nTCV=3;        //number of TCV
typedef int[0,nTCV-1] id_tcv;

const int none=0;      //flags
const int terminal=1;
const int occupancy=2;
const int positioning=3;
typedef int[0,3] flag;

flag TCVflag[nTCV];
int TCVa[nTCV];
int TCVb[nTCV];

//********** TV  *************

const int nTV = 1;
typedef int[0,nTV-1] id_tv;
int TVa[nTV];
int TVb[nTV];


//************ IXL  **************

const int nIXL = 2;        //number of IXL
typedef int[0,nIXL-1] id_IXL;

int connectedCounter[nIXL];  //counts the number of IXL that are connected

//********** Communications ***********

//synchronous buffers for value passing
int x=-1;  
int y=-1;
double z=-1.0;

//OBC - IXL communications

broadcast chan connect[nIXL];  //OBC tries to connect to IXL  -- it can fails
broadcast chan connected[nTram];  //IXL acknowledge connection of OBC  

broadcast chan loc[nIXL];   // OBC send location to connected IXL -- it can fails
broadcast chan ack[nTram];  //IXL acknowledge reception of position to OBC

broadcast chan disconnect[nTram]; //IXL disconnect OBC

int IXLconnected[nTram]; //each tram stores the IXL it is connected to

//OBC - OCC communications

broadcast chan connectOCC;  //OBC tries to connect to OCC  -- it can fails
broadcast chan connectedOCC[nTram];  //OCC acknowledge connection of OBC  

broadcast chan locOCC;   // OBC send location to connected OCC -- it can fails
broadcast chan ackOCC[nTram];  //OCC acknowledge reception of position to OBC

broadcast chan disconnectOCC; // OBC disconnect from OCC

//OCC intra communication

broadcast chan checkPosOCC;    //used to check if the position of a tram is receveid in timeout seconds
broadcast chan failureOCC;
broadcast chan restoreOCC;
broadcast chan OCCcheckConnection;

//OBC intra communications
broadcast chan stop[nTram];
broadcast chan go[nTram];


//OBC Mitigation
broadcast chan failureOBC[nTram];  //a failure has occurred, it is sent to OBC Mitigation
broadcast chan restoreOBC[nTram];  //OBC has handled the failure and it can be restored


//OBC - OBCTV
broadcast chan read;

//IXL intra comm.

broadcast chan IXLCheckConnection;   //notify a new connection or disconnection 

//IXL IXLTCV communications

broadcast chan checkloc[nIXL]; //IXL check all TCV under its competence
broadcast chan freed[nIXL];    //TCV has been freed
broadcast chan occupied[nIXL]; //TCV has been occupied

//int Loc[nTram]; //Loc is used for the invariants of TCV instead of Lv because Lv is a clock

//IXLMitigation
broadcast chan failureIXL[nIXL];  //a failure has occurred, it is sent to IXLMitigation
broadcast chan restoreIXL[nIXL];  //IXL has handled the failure and it can be restored






//********   Routes   ***********

//const int busy=0;        //releasing condition
//const int free=1;
//typedef int[0,1] releasing_condition;
</declaration>
	<template>
		<name>OBC_Epsilon</name>
		<parameter>const id_tram id</parameter>
		<declaration>//updates non-deterministically the error epsilon after an exponentially distributed amount of time </declaration>
		<location id="id0" x="-918" y="-748">
			<label kind="exponentialrate" x="-935" y="-773">2</label>
			<label kind="comments" x="-1453" y="-977">with an exponentially distributed delay of rate 2, a new protection level is received. The error is non-deterministically selected, the probability of having a range [-15,15] is of 10^-7, otherwise the range is [-7,7].</label>
		</location>
		<branchpoint id="id1" x="-688" y="-748">
		</branchpoint>
		<init ref="id0"/>
		<transition>
			<source ref="id1"/>
			<target ref="id0"/>
			<label kind="select" x="-857" y="-824">eps:int[0,250]</label>
			<label kind="assignment" x="-857" y="-807">epsilon[id]:=eps</label>
			<label kind="probability" x="-857" y="-790">99999999</label>
			<nail x="-688" y="-807"/>
			<nail x="-918" y="-807"/>
		</transition>
		<transition>
			<source ref="id0"/>
			<target ref="id1"/>
		</transition>
		<transition>
			<source ref="id1"/>
			<target ref="id0"/>
			<label kind="assignment" x="-901" y="-688">epsilon[id]:=260</label>
			<label kind="probability" x="-900" y="-671">1</label>
			<nail x="-688" y="-671"/>
			<nail x="-918" y="-671"/>
		</transition>
	</template>
	<template>
		<name>OBC_SendPosIXL</name>
		<parameter>const id_tram id</parameter>
		<declaration>clock c1=0.0;</declaration>
		<location id="id2" x="-306" y="-17">
			<name x="-399" y="-59">NotConnected</name>
		</location>
		<location id="id3" x="-187" y="-17">
			<name x="-212" y="-68">Connected</name>
			<label kind="exponentialrate" x="-178" y="-42">3</label>
		</location>
		<init ref="id2"/>
		<transition>
			<source ref="id3"/>
			<target ref="id2"/>
			<label kind="synchronisation" x="-289" y="51">disconnect[id]?</label>
			<nail x="-220" y="42"/>
			<nail x="-280" y="42"/>
		</transition>
		<transition>
			<source ref="id2"/>
			<target ref="id3"/>
			<label kind="synchronisation" x="-306" y="-76">connected[id]?</label>
			<label kind="assignment" x="-297" y="-59">c1=0</label>
		</transition>
		<transition>
			<source ref="id3"/>
			<target ref="id3"/>
			<label kind="guard" x="-102" y="-17">c1&gt;=freq</label>
			<label kind="synchronisation" x="-102" y="0">loc[IXLconnected[id]]!</label>
			<label kind="assignment" x="-102" y="25">c1=0,
x=id,
z=Lv[id]+0</label>
			<nail x="-178" y="-17"/>
			<nail x="-110" y="-17"/>
			<nail x="-110" y="42"/>
			<nail x="-161" y="42"/>
		</transition>
	</template>
	<template>
		<name>OBC_Drive</name>
		<parameter>const id_tram id</parameter>
		<declaration>//guard speed[id]&gt;=0 is just to avoid warnings, it is unuseful

clock c=0.0;

void initialise()
{
 //   speed[id]=5;  // m/s  sono  18 km/h
    Lv[id]=1;
    epsilon[id]=0;
    l[id]=50;
}</declaration>
		<location id="id4" x="-705" y="-467">
			<urgent/>
		</location>
		<location id="id5" x="-331" y="-467">
			<name x="-341" y="-501">Stop</name>
			<label kind="invariant" x="-365" y="-527">Lv[id]'==0</label>
		</location>
		<location id="id6" x="-586" y="-467">
			<name x="-603" y="-501">Moving</name>
			<label kind="invariant" x="-620" y="-527">Lv[id]'==5</label>
			<label kind="exponentialrate" x="-603" y="-459">3</label>
		</location>
		<init ref="id4"/>
		<transition>
			<source ref="id4"/>
			<target ref="id6"/>
			<label kind="assignment" x="-680" y="-493">initialise()</label>
		</transition>
		<transition>
			<source ref="id5"/>
			<target ref="id6"/>
			<label kind="synchronisation" x="-510" y="-399">restoreOBC[id]?</label>
			<nail x="-331" y="-374"/>
			<nail x="-586" y="-374"/>
		</transition>
		<transition>
			<source ref="id6"/>
			<target ref="id5"/>
			<label kind="synchronisation" x="-510" y="-493">stop[id]?</label>
		</transition>
	</template>
	<template>
		<name>OBC_Mitigation</name>
		<parameter>const id_tram id</parameter>
		<location id="id7" x="-246" y="34">
			<name x="-289" y="0">DegradadedMode</name>
			<label kind="exponentialrate" x="-246" y="51">3</label>
		</location>
		<location id="id8" x="-127" y="-102">
			<name x="-153" y="-136">Stopping</name>
			<urgent/>
		</location>
		<location id="id9" x="-340" y="-102">
			<name x="-408" y="-145">NormalOperation</name>
		</location>
		<init ref="id9"/>
		<transition>
			<source ref="id7"/>
			<target ref="id9"/>
			<label kind="synchronisation" x="-450" y="-34">restoreOBC[id]!</label>
			<nail x="-340" y="34"/>
		</transition>
		<transition>
			<source ref="id8"/>
			<target ref="id7"/>
			<label kind="synchronisation" x="-119" y="-34">stop[id]!</label>
			<nail x="-127" y="34"/>
		</transition>
		<transition>
			<source ref="id9"/>
			<target ref="id8"/>
			<label kind="synchronisation" x="-272" y="-128">failureOBC[id]?</label>
		</transition>
	</template>
	<template>
		<name>OBC_IXLConnectionSupervision</name>
		<parameter>const id_tram id</parameter>
		<declaration>int IXL;
int bTVid;


clock c1=0.0;
clock c2=0.0;

int TmaxAck=freq*5;
int TmaxConnect=freq*3;
</declaration>
		<location id="id10" x="-2091" y="-1683">
			<urgent/>
		</location>
		<location id="id11" x="-2439" y="-2057">
			<name x="-2482" y="-2091">CheckingTV</name>
			<urgent/>
		</location>
		<location id="id12" x="-2090" y="-1878">
			<name x="-2115" y="-1920">Connecting</name>
			<label kind="invariant" x="-2150" y="-1938">c1&lt;=freq&amp;&amp;c2&lt;=TmaxConnect</label>
		</location>
		<location id="id13" x="-2660" y="-1887">
			<name x="-2703" y="-1921">Disconnect</name>
		</location>
		<location id="id14" x="-1487" y="-1853">
			<name x="-1538" y="-1895">ConnectionLost</name>
		</location>
		<location id="id15" x="-1742" y="-1853">
			<name x="-1776" y="-1895">Connected</name>
			<label kind="invariant" x="-1776" y="-1912">c1&lt;=TmaxAck</label>
		</location>
		<init ref="id13"/>
		<transition>
			<source ref="id14"/>
			<target ref="id15"/>
			<label kind="synchronisation" x="-1674" y="-1810">restoreOBC[id]?</label>
			<label kind="assignment" x="-1674" y="-1785">c1:=0</label>
			<nail x="-1487" y="-1785"/>
			<nail x="-1742" y="-1785"/>
		</transition>
		<transition>
			<source ref="id15"/>
			<target ref="id13"/>
			<label kind="synchronisation" x="-2448" y="-1666">disconnect[id]?</label>
			<label kind="assignment" x="-2448" y="-1632">IXL=-1</label>
			<nail x="-1844" y="-1649"/>
			<nail x="-2660" y="-1640"/>
		</transition>
		<transition>
			<source ref="id10"/>
			<target ref="id15"/>
			<label kind="synchronisation" x="-1997" y="-1717">restoreOBC[id]!</label>
			<label kind="assignment" x="-2073" y="-1683">c1:=0</label>
			<label kind="comments" x="-2006" y="-1742">connected to IXL</label>
			<nail x="-1861" y="-1683"/>
			<nail x="-1785" y="-1853"/>
		</transition>
		<transition>
			<source ref="id12"/>
			<target ref="id12"/>
			<label kind="guard" x="-2354" y="-1878">c2&gt;=TmaxConnect</label>
			<label kind="synchronisation" x="-2312" y="-1861">failureOBC[id]!</label>
			<label kind="assignment" x="-2295" y="-1844">c1=0,c2=0</label>
			<label kind="comments" x="-2397" y="-1810">stop tram if fail to connect</label>
			<nail x="-2158" y="-1802"/>
			<nail x="-2218" y="-1802"/>
			<nail x="-2218" y="-1879"/>
		</transition>
		<transition>
			<source ref="id12"/>
			<target ref="id10"/>
			<label kind="synchronisation" x="-2193" y="-1768">connected[id]?</label>
		</transition>
		<transition>
			<source ref="id11"/>
			<target ref="id13"/>
			<label kind="guard" x="-2626" y="-2006">(Lv[id] &gt; TVb[bTVid]+Lsafemargin+(l[id]/2))</label>
		</transition>
		<transition>
			<source ref="id12"/>
			<target ref="id12"/>
			<label kind="guard" x="-1955" y="-1862">c1&gt;=freq</label>
			<label kind="synchronisation" x="-1955" y="-1845">connect[IXL]!</label>
			<label kind="assignment" x="-1955" y="-1828">c1=0,x=id</label>
			<nail x="-1963" y="-1879"/>
			<nail x="-1963" y="-1802"/>
			<nail x="-2022" y="-1802"/>
		</transition>
		<transition>
			<source ref="id11"/>
			<target ref="id13"/>
			<label kind="guard" x="-2439" y="-1955">(TVa[bTVid]-Lsafemargin-(l[id]/2) &gt; Lv[id])</label>
			<label kind="comments" x="-2601" y="-1870">no TV read</label>
			<nail x="-2439" y="-1887"/>
		</transition>
		<transition>
			<source ref="id11"/>
			<target ref="id12"/>
			<label kind="guard" x="-2354" y="-2125">(TVa[bTVid]-Lsafemargin-(l[id]/2) &lt;= Lv[id] &amp;&amp;
Lv[id] &lt;= TVb[bTVid]+Lsafemargin+(l[id]/2))</label>
			<label kind="synchronisation" x="-2345" y="-2057">connect[IXL]!</label>
			<label kind="assignment" x="-2345" y="-2040">c1=freq,c2=0,x=id</label>
			<label kind="comments" x="-2218" y="-2159">TV read, connect to IXL</label>
			<nail x="-2090" y="-2057"/>
		</transition>
		<transition>
			<source ref="id13"/>
			<target ref="id11"/>
			<label kind="synchronisation" x="-2643" y="-2082">read?</label>
			<label kind="assignment" x="-2642" y="-2057">bTVid=x,
IXL=y</label>
			<nail x="-2660" y="-2057"/>
		</transition>
		<transition>
			<source ref="id15"/>
			<target ref="id15"/>
			<label kind="synchronisation" x="-1810" y="-1998">ack[id]?</label>
			<label kind="assignment" x="-1810" y="-1980">c1:=0</label>
			<nail x="-1819" y="-1887"/>
			<nail x="-1819" y="-1955"/>
			<nail x="-1742" y="-1955"/>
		</transition>
		<transition>
			<source ref="id15"/>
			<target ref="id14"/>
			<label kind="guard" x="-1674" y="-1895">c1&gt;=TmaxAck</label>
			<label kind="synchronisation" x="-1666" y="-1878">failureOBC[id]!</label>
			<label kind="comments" x="-1674" y="-1946">stop tram if no ack is received by IXL</label>
		</transition>
	</template>
	<template>
		<name>OBC_TV</name>
		<parameter>const id_tv id, int a,int b,  int IXL</parameter>
		<declaration>clock c1=0.0;</declaration>
		<location id="id16" x="-1912" y="-1606">
			<urgent/>
		</location>
		<location id="id17" x="-1759" y="-1606">
			<name x="-1768" y="-1657">On</name>
			<label kind="invariant" x="-1785" y="-1640">c1&lt;=freq</label>
		</location>
		<init ref="id16"/>
		<transition>
			<source ref="id17"/>
			<target ref="id17"/>
			<label kind="guard" x="-1674" y="-1606">c1&gt;=freq</label>
			<label kind="synchronisation" x="-1674" y="-1589">read!</label>
			<label kind="assignment" x="-1674" y="-1572">c1 = 0,
x = id,
y = IXL</label>
			<label kind="comments" x="-1589" y="-1632">every freq sec. check if some 
TV has been read</label>
			<nail x="-1691" y="-1606"/>
			<nail x="-1691" y="-1538"/>
			<nail x="-1759" y="-1538"/>
		</transition>
		<transition>
			<source ref="id16"/>
			<target ref="id17"/>
			<label kind="assignment" x="-1878" y="-1674">TVa[id]:=a,
TVb[id]:=b</label>
		</transition>
	</template>
	<template>
		<name x="5" y="5">IXL_TCV</name>
		<parameter>const id_tcv id,  const id_IXL idixl, flag f, int  a,  int  b</parameter>
		<declaration>
//it is assumed that all TCV are horizontal, as in the operative scenarios, and that more than one tram can occupy a TCV
//it is assumed that a TCV is managed by only one IXL


int last_entered_tram=-1;

int tid=-1;

double pos:=-1.0;</declaration>
		<location id="id18" x="-817" y="-450">
			<name x="-841" y="-442">checkU2</name>
			<urgent/>
		</location>
		<location id="id19" x="-893" y="-748">
			<name x="-903" y="-782">checkU1</name>
			<urgent/>
		</location>
		<location id="id20" x="-1267" y="-578">
			<urgent/>
		</location>
		<location id="id21" x="-544" y="-569">
			<name x="-569" y="-611">Occupied</name>
		</location>
		<location id="id22" x="-1114" y="-578">
			<name x="-1124" y="-612">Free</name>
		</location>
		<init ref="id20"/>
		<transition>
			<source ref="id21"/>
			<target ref="id18"/>
			<label kind="synchronisation" x="-681" y="-518">checkloc[idixl]?</label>
			<label kind="assignment" x="-680" y="-501">tid=x,
pos=z</label>
		</transition>
		<transition>
			<source ref="id18"/>
			<target ref="id21"/>
			<label kind="guard" x="-681" y="-442">!(last_entered_tram==tid)&amp;&amp;
!(a-Lsafemargin-(l[tid]/2) &lt;= pos &amp;&amp;
pos &lt;= b+Lsafemargin+(l[tid]/2))</label>
			<nail x="-545" y="-450"/>
		</transition>
		<transition>
			<source ref="id18"/>
			<target ref="id21"/>
			<label kind="guard" x="-1011" y="-544">(a-Lsafemargin-(l[tid]/2) &lt;= pos &amp;&amp;
pos &lt;= b+Lsafemargin+(l[tid]/2))</label>
			<label kind="assignment" x="-960" y="-501">last_entered_tram:=tid</label>
			<nail x="-817" y="-569"/>
		</transition>
		<transition>
			<source ref="id18"/>
			<target ref="id22"/>
			<label kind="guard" x="-1139" y="-450">(last_entered_tram==tid)&amp;&amp;
!(a-Lsafemargin-(l[tid]/2) &lt;= pos &amp;&amp;
pos &lt;= b+Lsafemargin+(l[tid]/2))</label>
			<label kind="synchronisation" x="-1139" y="-391">freed[idixl]!</label>
			<label kind="assignment" x="-1139" y="-374">x=id,
y=tid</label>
			<nail x="-1114" y="-450"/>
		</transition>
		<transition>
			<source ref="id19"/>
			<target ref="id22"/>
			<label kind="guard" x="-936" y="-663">!(a-Lsafemargin-(l[tid]/2) &lt;= pos &amp;&amp;
pos &lt;= b+Lsafemargin+(l[tid]/2))</label>
			<nail x="-893" y="-578"/>
		</transition>
		<transition>
			<source ref="id19"/>
			<target ref="id21"/>
			<label kind="guard" x="-808" y="-824">(a-Lsafemargin-(l[tid]/2) &lt;= pos &amp;&amp;
pos &lt;= b+Lsafemargin+(l[tid]/2))</label>
			<label kind="synchronisation" x="-816" y="-773">occupied[idixl]!</label>
			<label kind="assignment" x="-816" y="-748">last_entered_tram:=tid,
x=id,
y=tid</label>
			<nail x="-544" y="-748"/>
		</transition>
		<transition>
			<source ref="id22"/>
			<target ref="id19"/>
			<label kind="synchronisation" x="-1097" y="-773">checkloc[idixl]?</label>
			<label kind="assignment" x="-1096" y="-748">tid=x,
pos=z</label>
			<nail x="-1114" y="-748"/>
		</transition>
		<transition>
			<source ref="id20"/>
			<target ref="id22"/>
			<label kind="assignment" x="-1249" y="-578">TCVflag[id]:=f,
TCVa[id]:=a,
TCVb[id]:=b</label>
		</transition>
	</template>
	<template>
		<name>IXL_Connect</name>
		<parameter>const id_IXL id</parameter>
		<declaration>int tid=-1;</declaration>
		<location id="id23" x="-2133" y="-1674">
			<urgent/>
		</location>
		<location id="id24" x="-1513" y="-1674">
			<urgent/>
		</location>
		<location id="id25" x="-1309" y="-1674">
			<name x="-1334" y="-1708">Connecting</name>
			<label kind="exponentialrate" x="-1317" y="-1666">2</label>
		</location>
		<location id="id26" x="-1760" y="-1674">
			<urgent/>
		</location>
		<location id="id27" x="-1955" y="-1674">
			<name x="-1980" y="-1708">Waiting</name>
			<label kind="invariant" x="-2023" y="-1734">connectedCounter[id]&lt;=nTram</label>
		</location>
		<branchpoint id="id28" x="-1623" y="-1674">
		</branchpoint>
		<init ref="id23"/>
		<transition>
			<source ref="id23"/>
			<target ref="id27"/>
			<label kind="assignment" x="-2125" y="-1666">connectedCounter[id]=0</label>
		</transition>
		<transition>
			<source ref="id24"/>
			<target ref="id25"/>
			<label kind="synchronisation" x="-1495" y="-1691">IXLCheckConnection!</label>
		</transition>
		<transition>
			<source ref="id28"/>
			<target ref="id24"/>
			<label kind="probability" x="-1606" y="-1674">99999</label>
		</transition>
		<transition>
			<source ref="id27"/>
			<target ref="id26"/>
			<label kind="synchronisation" x="-1895" y="-1691">connect[id]?</label>
			<label kind="assignment" x="-1895" y="-1674">tid=x</label>
			<label kind="comments" x="-2091" y="-1776">receive request of connection from OBC</label>
		</transition>
		<transition>
			<source ref="id25"/>
			<target ref="id27"/>
			<label kind="synchronisation" x="-1750" y="-1580">connected[tid]!</label>
			<label kind="assignment" x="-1750" y="-1555">IXLconnected[tid]=id,
connectedCounter[id]++</label>
			<label kind="comments" x="-1768" y="-1504">acknowledge connection
IXLconnected is the identifier of IXL</label>
			<nail x="-1309" y="-1555"/>
			<nail x="-1955" y="-1555"/>
		</transition>
		<transition>
			<source ref="id28"/>
			<target ref="id27"/>
			<label kind="probability" x="-1903" y="-1614">1</label>
			<nail x="-1649" y="-1614"/>
			<nail x="-1921" y="-1614"/>
		</transition>
		<transition>
			<source ref="id26"/>
			<target ref="id28"/>
		</transition>
	</template>
	<template>
		<name>IXL_ReceivePos</name>
		<parameter>const id_IXL id</parameter>
		<declaration>int tid:=-1;
double pos=-1.0;</declaration>
		<location id="id29" x="-2898" y="-2813">
			<urgent/>
		</location>
		<location id="id30" x="-2414" y="-2813">
			<name x="-2474" y="-2847">ReceivedLoc</name>
			<label kind="exponentialrate" x="-2431" y="-2805">3</label>
		</location>
		<location id="id31" x="-2635" y="-2813">
			<urgent/>
		</location>
		<location id="id32" x="-3103" y="-2813">
			<name x="-3137" y="-2855">WaitingLoc</name>
		</location>
		<branchpoint id="id33" x="-2737" y="-2813">
		</branchpoint>
		<init ref="id32"/>
		<transition>
			<source ref="id29"/>
			<target ref="id33"/>
		</transition>
		<transition>
			<source ref="id32"/>
			<target ref="id29"/>
			<label kind="synchronisation" x="-3026" y="-2839">loc[id]?</label>
			<label kind="assignment" x="-3043" y="-2813">tid=x, pos=z</label>
			<label kind="comments" x="-3051" y="-2992">receive location from connected OBC</label>
		</transition>
		<transition>
			<source ref="id30"/>
			<target ref="id32"/>
			<label kind="synchronisation" x="-2847" y="-2703">ack[id]!</label>
			<label kind="comments" x="-2907" y="-2677">send acknowledgement to OBC</label>
			<nail x="-2414" y="-2702"/>
			<nail x="-3103" y="-2702"/>
		</transition>
		<transition>
			<source ref="id31"/>
			<target ref="id30"/>
			<label kind="synchronisation" x="-2601" y="-2838">checkloc[id]!</label>
			<label kind="assignment" x="-2601" y="-2805">x=tid,
z=pos</label>
			<label kind="comments" x="-2626" y="-2873">trigger the check of TCV and others of IXL</label>
		</transition>
		<transition>
			<source ref="id33"/>
			<target ref="id31"/>
			<label kind="probability" x="-2720" y="-2838">99999</label>
		</transition>
		<transition>
			<source ref="id33"/>
			<target ref="id32"/>
			<label kind="probability" x="-2797" y="-2770">1</label>
			<nail x="-2831" y="-2753"/>
			<nail x="-3035" y="-2753"/>
		</transition>
	</template>
	<template>
		<name>IXL_Tmaxsafe_Supervision</name>
		<parameter>const id_IXL id</parameter>
		<declaration>clock c1:=0.0;
int TmaxSafe = freq*5; //seconds


bool check[nTram];
int tid=-1;


void resetCheck()
{
    int i=0;
    for(i=0;i&lt;nTram;i++)
        check[i]=false;
}

int sumCheck()
{
    int i=0;
    int s=0;
    for(i=0;i&lt;nTram;i++)
    {
       if (check[i])
           s++;
    }
    return s;
}</declaration>
		<location id="id34" x="-1521" y="-1785">
			<name x="-1531" y="-1819">urg1</name>
			<urgent/>
		</location>
		<location id="id35" x="-1938" y="-1615">
			<name x="-1946" y="-1598">urg2</name>
			<urgent/>
		</location>
		<location id="id36" x="-1938" y="-1921">
			<name x="-1948" y="-1955">start</name>
			<urgent/>
		</location>
		<location id="id37" x="-2286" y="-1785">
			<name x="-2312" y="-1827">FailSafe</name>
		</location>
		<location id="id38" x="-1939" y="-1785">
			<name x="-1964" y="-1827">NormalMode</name>
			<label kind="invariant" x="-2048" y="-1844">(c1&lt;=TmaxSafe)||(connectedCounter[id]==0)</label>
		</location>
		<init ref="id36"/>
		<transition>
			<source ref="id34"/>
			<target ref="id38"/>
			<label kind="assignment" x="-1734" y="-1751">c1=0,resetCheck()</label>
			<nail x="-1700" y="-1759"/>
			<nail x="-1836" y="-1759"/>
		</transition>
		<transition>
			<source ref="id38"/>
			<target ref="id34"/>
			<label kind="synchronisation" x="-1802" y="-1802">IXLCheckConnection?</label>
			<label kind="comments" x="-1683" y="-1853">A new tram is connected, restart to check positions reception</label>
		</transition>
		<transition>
			<source ref="id35"/>
			<target ref="id38"/>
			<label kind="guard" x="-2524" y="-1649">(!check[tid]&amp;&amp;(sumCheck()==(connectedCounter[id]-1)))||(connectedCounter[id]==0)</label>
			<label kind="assignment" x="-2116" y="-1632">c1=0,resetCheck()</label>
			<nail x="-1997" y="-1649"/>
			<nail x="-1996" y="-1751"/>
		</transition>
		<transition>
			<source ref="id35"/>
			<target ref="id38"/>
			<label kind="guard" x="-1887" y="-1657">!check[tid]&amp;&amp;(sumCheck()&lt;(connectedCounter[id]-1))</label>
			<label kind="assignment" x="-1887" y="-1640">check[tid]=true</label>
			<nail x="-1878" y="-1657"/>
			<nail x="-1879" y="-1742"/>
		</transition>
		<transition>
			<source ref="id38"/>
			<target ref="id35"/>
			<label kind="synchronisation" x="-1981" y="-1734">checkloc[id]?</label>
			<label kind="assignment" x="-1981" y="-1717">tid=x</label>
		</transition>
		<transition>
			<source ref="id36"/>
			<target ref="id38"/>
			<label kind="assignment" x="-1938" y="-1887">resetCheck(),c1=0</label>
		</transition>
		<transition>
			<source ref="id37"/>
			<target ref="id38"/>
			<label kind="synchronisation" x="-2235" y="-1768">restoreIXL[id]?</label>
			<label kind="assignment" x="-2235" y="-1751">c1=0, resetCheck()</label>
			<nail x="-2235" y="-1768"/>
			<nail x="-1997" y="-1768"/>
		</transition>
		<transition>
			<source ref="id38"/>
			<target ref="id37"/>
			<label kind="guard" x="-2252" y="-1819">c1&gt;=TmaxSafe&amp;&amp;connectedCounter[id]&gt;0</label>
			<label kind="synchronisation" x="-2244" y="-1802">failureIXL[id]!</label>
			<label kind="comments" x="-2405" y="-1878">IXL has not received a position of a connected tram 
within timeout sec.</label>
		</transition>
	</template>
	<template>
		<name>IXL_Lsafemargin_Supervision</name>
		<parameter>const id_IXL id</parameter>
		<declaration>int tid = -1;
int pos = -1;
</declaration>
		<location id="id39" x="-799" y="-272">
			<name x="-824" y="-323">FailSafe</name>
		</location>
		<location id="id40" x="-1037" y="-272">
			<name x="-1047" y="-306">check</name>
			<urgent/>
		</location>
		<location id="id41" x="-1215" y="-272">
			<name x="-1300" y="-306">NormalOperation</name>
		</location>
		<init ref="id41"/>
		<transition>
			<source ref="id39"/>
			<target ref="id41"/>
			<label kind="synchronisation" x="-1003" y="-144">restoreIXL[id]?</label>
			<nail x="-799" y="-127"/>
			<nail x="-1215" y="-127"/>
		</transition>
		<transition>
			<source ref="id40"/>
			<target ref="id39"/>
			<label kind="guard" x="-1002" y="-301">epsilon[tid]&gt;Lsafemargin</label>
			<label kind="synchronisation" x="-994" y="-272">failureIXL[id]!</label>
		</transition>
		<transition>
			<source ref="id40"/>
			<target ref="id41"/>
			<label kind="guard" x="-1190" y="-204">epsilon[tid]&lt;=Lsafemargin</label>
			<nail x="-1037" y="-212"/>
			<nail x="-1198" y="-212"/>
		</transition>
		<transition>
			<source ref="id41"/>
			<target ref="id40"/>
			<label kind="synchronisation" x="-1181" y="-323">checkloc[id]?</label>
			<label kind="assignment" x="-1173" y="-306">tid=x</label>
		</transition>
	</template>
	<template>
		<name>IXL_Mitigation</name>
		<parameter>const id_IXL id</parameter>
		<location id="id42" x="-195" y="-110">
			<name x="-238" y="-144">DegradadedMode</name>
			<label kind="exponentialrate" x="-204" y="-102">3</label>
		</location>
		<location id="id43" x="-408" y="-110">
			<name x="-476" y="-153">NormalOperation</name>
		</location>
		<init ref="id43"/>
		<transition>
			<source ref="id42"/>
			<target ref="id43"/>
			<label kind="synchronisation" x="-340" y="-51">restoreIXL[id]!</label>
			<nail x="-195" y="-25"/>
			<nail x="-408" y="-25"/>
		</transition>
		<transition>
			<source ref="id43"/>
			<target ref="id42"/>
			<label kind="synchronisation" x="-340" y="-136">failureIXL[id]?</label>
		</transition>
	</template>
	<template>
		<name>IXL_Disconnect</name>
		<parameter>const id_IXL id, const id_tcv idtcv, const bool releaseOccupied</parameter>
		<declaration>
int TCVid=-1;
int tid=-1;</declaration>
		<location id="id44" x="-1445" y="-1164">
			<urgent/>
		</location>
		<location id="id45" x="-1232" y="-1164">
			<name x="-1224" y="-1198">Disconnecting</name>
			<label kind="exponentialrate" x="-1241" y="-1156">2</label>
		</location>
		<location id="id46" x="-1232" y="-1317">
			<name x="-1242" y="-1351">checkU</name>
			<urgent/>
		</location>
		<location id="id47" x="-1615" y="-1317">
			<name x="-1683" y="-1334">Waiting</name>
			<label kind="invariant" x="-1802" y="-1351">connectedCounter[id]&gt;=0</label>
		</location>
		<init ref="id47"/>
		<transition>
			<source ref="id44"/>
			<target ref="id47"/>
			<label kind="synchronisation" x="-1597" y="-1181">disconnect[tid]!</label>
			<label kind="assignment" x="-1615" y="-1164">connectedCounter[id]--</label>
			<nail x="-1615" y="-1164"/>
		</transition>
		<transition>
			<source ref="id45"/>
			<target ref="id44"/>
			<label kind="synchronisation" x="-1394" y="-1156">IXLCheckConnection!</label>
			<nail x="-1351" y="-1164"/>
		</transition>
		<transition>
			<source ref="id46"/>
			<target ref="id45"/>
			<label kind="guard" x="-1224" y="-1258">TCVid==idtcv</label>
		</transition>
		<transition>
			<source ref="id46"/>
			<target ref="id47"/>
			<label kind="guard" x="-1615" y="-1445">TCVid != idtcv</label>
			<nail x="-1232" y="-1419"/>
			<nail x="-1615" y="-1419"/>
		</transition>
		<transition>
			<source ref="id47"/>
			<target ref="id46"/>
			<label kind="guard" x="-1581" y="-1292">releaseOccupied==false</label>
			<label kind="synchronisation" x="-1581" y="-1275">freed[id]?</label>
			<label kind="assignment" x="-1581" y="-1258">TCVid=x,
tid=y</label>
			<nail x="-1590" y="-1292"/>
			<nail x="-1258" y="-1292"/>
		</transition>
		<transition>
			<source ref="id47"/>
			<target ref="id46"/>
			<label kind="guard" x="-1394" y="-1394">releaseOccupied==true</label>
			<label kind="synchronisation" x="-1394" y="-1377">occupied[id]?</label>
			<label kind="assignment" x="-1394" y="-1360">TCVid=x,
tid=y</label>
		</transition>
	</template>
	<system>
//IXL 0
IXLC_0 = IXL_Connect(0);
IXLR_0 = IXL_ReceivePos(0);
IXLS_0 = IXL_Tmaxsafe_Supervision(0);
IXLS2_0 = IXL_Lsafemargin_Supervision(0);
IXLD_0 = IXL_Disconnect(0,1,false);  //const id_IXL id, const id_tcv idtcv, const bool releaseOccupied
IXLM_0 = IXL_Mitigation(0);

//TCV
TCV_0 = IXL_TCV(0,0,none,200,250);   //const id_tcv id, const id_IXL idixl, flag f, int  a,  int  b
TCV_1 = IXL_TCV(1,0,none,350,450);
TCV_2 = IXL_TCV(2,1,none,500,550);   //under another IXL, for verification purposes

//OBC 0

//OBCC_0 = OBC_CommOCC(0); 
OBCE_0 = OBC_Epsilon(0);
OBCR_0 = OBC_SendPosIXL(0);
OBCD_0 = OBC_Drive(0);
OBCS_0 = OBC_IXLConnectionSupervision(0);
OBCM_0 = OBC_Mitigation(0);

//OBC 1

//OBCC_1 = OBC_CommOCC(1); 

OBCE_1 = OBC_Epsilon(1);
OBCR_1 = OBC_SendPosIXL(1);
OBCD_1 = OBC_Drive(1);
OBCS_1 = OBC_IXLConnectionSupervision(1);
OBCM_1 = OBC_Mitigation(1);

//TV
TV_0 = OBC_TV(0,100,150,0);   //const id_tv id, int a,int b, int IXL


system 
      

       //Tram 0
       OBCE_0,
      OBCR_0,
       OBCD_0,
       OBCS_0,
       OBCM_0,

       //Tram 1
     /*  OBCC_1,
       OBCE_1,
       OBCR_1,
       OBCD_1,
       OBCS_1,
       OBCM_1,
       */

        //TV_0
        TV_0,

       //IXL 0
       IXLC_0, 
       IXLR_0, 
       IXLS_0, 
       IXLS2_0,
       IXLD_0,
       IXLM_0,
       
       //TCV of IXL 0
       TCV_0,
       TCV_1,
       TCV_2;  </system>
	<queries>
		<query>
			<formula>Pr(&lt;&gt;[0,150](IXLD_0.Disconnecting &amp;&amp; (Lv[0]+l[0]/2&lt;TCVa[1])))
			</formula>
			<comment>

			</comment>
		</query>
		<query>
			<formula>Pr(&lt;&gt;[0,150] (Lv[0]+l[0]/2&lt;TCVa[1]) &amp;&amp; (Lv[0]-l[0]/2+epsilon[0]&gt;TCVb[1]))
			</formula>
			<comment>
			</comment>
		</query>
	</queries>
</nta>