device SENSOR features sensor_out: out data port; end SENSOR; device ACTUATOR features movement_in: in data port;

end ACTUATOR; device CONTROLLER end CONTROLLER; device implementation SENSOR.CHECK end SENSOR.CHECK; device implementation ACTUATOR.DeviceImpl2 end ACTUATOR.DeviceImpl2; device implementation CONTROLLER.DeviceImpl3 end CONTROLLER.DeviceImpl3; system RobotSystem features sensor_in: in data port; movement_out: out data port; movement_in: in data port; error_input: in data port; error_out: out data port; video_input: in data port; video_output: out data port; end RobotSystem; system implementation RobotSystem.SystemImpl1 end RobotSystem.SystemImpl1; device Video features video_out: out data port; end Video; device Warningmanager features error_out: out data port; end Warningmanager; device implementation Video.DeviceImpl1 end Video.DeviceImpl1; device implementation Warningmanager.DeviceImpl2 end Warningmanager.DeviceImpl2; device display_manager features display_in: in data port; end display_manager;

device Inputmanager features control_out: out data port; end Inputmanager; device warning_manager features warning_input: in data port; end warning_manager; system Controlsystem features display_input: in data port; display_output: out data port; control_input: in data port; control_output: out data port; warning_Output: out data port; warning_input: in data port; end Controlsystem; device implementation display_manager.DeviceImpl1 end display_manager.DeviceImpl1; device implementation Inputmanager.DeviceImpl1 end Inputmanager.DeviceImpl1; device implementation warning_manager.DeviceImpl2 end warning_manager.DeviceImpl2; system implementation Controlsystem.SystemImpl1 end Controlsystem.SystemImpl1; port group NoName features end NoName; system Complete end Complete; system implementation Complete.Control subcomponents RoboSubComponent: system RobotSystem; ControlSubComponent: system Controlsystem; SensorSubcomponent: device SENSOR.CHECK; ActuatorSubComponent: device ACTUATOR.DeviceImpl2; WarningSubComponent: device Warningmanager.DeviceImpl2; VideoSubComponent: device Video.DeviceImpl1; DisplaySubcomponent: device display_manager.DeviceImpl1; ControlSubcomponent2: device Inputmanager.DeviceImpl1; WarningSubcomponent: device warning_manager.DeviceImpl2; connections DataConnection1: data port VideoSubComponent.video_out -> RoboSubComponent.video_input; DataConnection2: data port WarningSubComponent.error_out -> RoboSubComponent.error_input; DataConnection3: data port SensorSubcomponent.sensor_out -> RoboSubComponent.sensor_in;

DataConnection4: data port RoboSubComponent.movement_out -> ActuatorSubComponent.movement_in; DataConnection5: data port ControlSubComponent.display_output -> DisplaySubcomponent.display_in; DataConnection6: data port ControlSubcomponent2.control_out -> ControlSubComponent.control_input; DataConnection7: data port ControlSubComponent.warning_Output -> WarningSubcomponent.warning_input; DataConnection8: data port RoboSubComponent.error_out -> ControlSubComponent.warning_input; DataConnection9: data port RoboSubComponent.video_output -> ControlSubComponent.display_input; DataConnection10: data port ControlSubComponent.control_output -> RoboSubComponent.movement_in; end Complete.Control;