planned new structure doc, in outline

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+pic
+ talks pic protocol to safety
+
+safety
+ rtprio
+ passes on all pic traffic
+ safety incl polarity, no collisions, curvature, etc.
+ converts instructions to/from text
+ takes instructions only from multiplex
+all real-time stuff so clients can be confident of no misthings ?
+ on-event for point changing, stopping, etc. ?
+ specify intended path and speed profile for each train ?
+  - list of points, in order, with setting
+      this is good enough to be in time for shinkansen on inner loop
+      inner loop is                     3589mm
+      minus longest section for slop    -657mm (X10)
+      minus length of the train                -1118mm
+                                       -------
+      spare                             1813mm
+       or at 1m/s                       1813ms
+      minus safety delay                -500ms
+                                       -------
+                                        1313ms
+
+  optimistic path change
+   - optimistic change request recorded on some point
+   - when we find it we check
+         is point free
+         is another set request recorded
+                 if so check whether we'll be out of the way
+         plot new path for this train
+
+deadline scheduler for point change and cdu
+
+multiplex
+ talks to all clients
+ access control
+ message mux/demux incl filtering
+
+
+
+
+
+for points autochanging
+ lay train an extra 600ms or so
+