2 talks pic protocol to safety
6 passes on all pic traffic
7 safety incl polarity, no collisions, curvature, etc.
8 converts instructions to/from text
9 takes instructions only from multiplex
10 all real-time stuff so clients can be confident of no misthings ?
11 on-event for point changing, stopping, etc. ?
12 specify intended path and speed profile for each train ?
13 - list of points, in order, with setting
14 this is good enough to be in time for shinkansen on inner loop
16 minus longest section for slop -657mm (X10)
17 minus length of the train -1118mm
21 minus safety delay -500ms
25 optimistic path change
26 - optimistic change request recorded on some point
27 - when we find it we check
29 is another set request recorded
30 if so check whether we'll be out of the way
31 plot new path for this train
33 deadline scheduler for point change and cdu
35 for points autochanging
36 lay train an extra 600ms or so
39 commsn between realtime and multiplexer
40 each command produces `ack' or `error'
41 multiplexer counts responses for flow control
46 message mux/demux incl filtering