Introduction

 Example: model train controller.

© 2005 ECNU SEI Principles of Embedded Computing System Design 1

Purposes of example

 Follow a design through several levels of

abstraction.
 Gain experience with UML.

© 2005 ECNU SEI Principles of Embedded Computing System Design 2

Model train setup (P.21)

rcvr motor

power
supply
console

header address command ECC

© 2005 ECNU SEI Principles of Embedded Computing System Design 3

Requirements (P.22)

 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.

© 2005 ECNU SEI Principles of Embedded Computing System Design 4

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 10w wall powered
physical console comfortable for 2 hands; < 2
size/weight lbs.

© 2005 ECNU SEI Principles of Embedded Computing System Design 5

Conceptual specification (P.22)

 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.

© 2005 ECNU SEI Principles of Embedded Computing System Design 6

Basic system commands

command name parameters

set-speed speed
(positive/negative)
set-inertia inertia-value (non-
negative)
estop none

© 2005 ECNU SEI Principles of Embedded Computing System Design 7

Typical control sequence (P.23)

:console :train_rcvr
set-inertia
set-speed

set-speed
estop

set-speed

© 2005 ECNU SEI Principles of Embedded Computing System Design 8

Message classes

command

set-speed set-inertia estop

value: unsigned-
value: integer
integer

© 2005 ECNU SEI Principles of Embedded Computing System Design 9

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.

© 2005 ECNU SEI Principles of Embedded Computing System Design 10

Subsystem collaboration
diagram (P.24)

Shows relationship between console and

receiver (ignores role of track):

1..n: command

:console :receiver

© 2005 ECNU SEI Principles of Embedded Computing System Design 11

System structure modeling

 Some classes define non-computer

components.
 Denote by *name.
 Choose important systems at this point to
show basic relationships.

© 2005 ECNU SEI Principles of Embedded Computing System Design 12

Major subsystem roles (P.24)

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

© 2005 ECNU SEI Principles of Embedded Computing System Design 13

Console system classes

console
1 1
1 1 1
1
panel formatter transmitter

1 1
1 1
Knobs* sender*

© 2005 ECNU SEI Principles of Embedded Computing System Design 14

Console class roles

 panel: describes analog knobs and

interface hardware.
 formatter: turns knob settings into bit
streams.
 transmitter: sends data on track.

© 2005 ECNU SEI Principles of Embedded Computing System Design 15

Train system classes
train set

1 1..t
1 1
train
1 1 motor
receiver interface
1 1
1 controller 1
1 1
detector* pulser*

© 2005 ECNU SEI Principles of Embedded Computing System Design 16

Train class roles

 receiver: digitizes signal from track.

 controller: interprets received commands
and makes control decisions.
 motor interface: generates signals
required by motor.

© 2005 ECNU SEI Principles of Embedded Computing System Design 17

Detailed specification (P.25)

 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.

© 2005 ECNU SEI Principles of Embedded Computing System Design 18

Train speed control (P.26)

 Motor controlled by pulse width

modulation:

v duty
cycle +
V
t -

© 2005 ECNU SEI Principles of Embedded Computing System Design 19

Console 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

© 2005 ECNU SEI Principles of Embedded Computing System Design 20

Panel and motor interface
classes

panel motor-interface

speed: integer
train-number() : integer
speed() : integer
inertia() : integer
estop() : boolean
new-settings()

© 2005 ECNU SEI Principles of Embedded Computing System Design 21

Class descriptions

 panel class defines the controls.

 new-settings() behavior reads the controls.
 motor-interface class defines the motor
speed held as state.

© 2005 ECNU SEI Principles of Embedded Computing System Design 22

Transmitter and receiver
classes (P.27)

transmitter receiver
current: command
send-speed(adrs: integer, new: boolean
speed: integer)
send-inertia(adrs: integer, read-cmd()
val: integer) new-cmd() : boolean
set-estop(adrs: integer) rcv-type(msg-type:
command)
rcv-speed(val: integer)
rcv-inertia(val:integer)

© 2005 ECNU SEI Principles of Embedded Computing System Design 23

Transmitter and receiver
classes 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).

© 2005 ECNU SEI Principles of Embedded Computing System Design 24

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()

© 2005 ECNU SEI Principles of Embedded Computing System Design 25

Formatter class description

 Formatter class holds state for each train,

setting for current train.
 The operate() operation performs the
basic formatting task.

© 2005 ECNU SEI Principles of Embedded Computing System Design 26

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.

© 2005 ECNU SEI Principles of Embedded Computing System Design 27

 Control input sequence
diagram (P.28)
:knobs :panel :formatter :transmitter
change in read panel
change in change in speed/

control panel settings panel-active

train number inertia/estop

settings send-command
read
panel
panelsettings send-speed,
change in send-inertia.
train number read panel send-estop
panel settings

set-knobs new-settings

© 2005 ECNU SEI Principles of Embedded Computing System Design 28

Formatter operate behavior

update-panel()
new train number
panel-active()
idle
other send-command()

© 2005 ECNU SEI Principles of Embedded Computing System Design 29

Panel-active behavior (P.29)

T current-train = train-knob
panel*:read-train() update-screen
changed = true
F

T
panel*:read-speed() current-speed = throttle
changed = true
F
... ...
© 2005 ECNU SEI Principles of Embedded Computing System Design 30
Controller class

controller
current-train: integer
current-speed[ntrains]: integer
current-direction[ntrains]: boolean
current-inertia[ntrains]:
unsigned-integer

operate()
issue-command()

© 2005 ECNU SEI Principles of Embedded Computing System Design 31

Setting the speed

 Don’t want to change speed

instantaneously.
 Controller should change speed gradually
by sending several commands.

© 2005 ECNU SEI Principles of Embedded Computing System Design 32

Sequence diagram for set-
speed command (P.30)
:receiver :controller :motor-interface :pulser*
new-cmd
cmd-type
rcv-speed set-speed
set-pulse
set-pulse
set-pulse

set-pulse
set-pulse

© 2005 ECNU SEI Principles of Embedded Computing System Design 33

Controller operate behavior
wait for a
command
from receiver
receive-command()

issue-command()

© 2005 ECNU SEI Principles of Embedded Computing System Design 34

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

© 2005 ECNU SEI Principles of Embedded Computing System Design 35

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.

© 2005 ECNU SEI Principles of Embedded Computing System Design 36