- parallel +----------+ +----------+ +----------+
- stateless | sensor_1 | | sensor_2 | ... | sensor_n |
- collectors +----------+ +----------+ +----------+
- | | |
- data data data
- | | |
- V V V
- serial +-----------------------------------------+
- stateful | controller |
- observer +-----------------------------------------+
- |
- decisions
- |
- V
- serial +-----------------------------------------+
- stateless | actuator |
- executor +-----------------------------------------+
- |
- system commands
- |
- V
- ~~~~~~
- ~ OS ~
- ~~~~~~
+parallel +----------+ +----------+ +----------+
+stateless | sensor_1 | | sensor_2 | ... | sensor_n |
+collectors +----------+ +----------+ +----------+
+ | | | |
+ data data data data
+ | | | |
+ V V V V
+serial +----------------------------------------------+
+stateful | controller |
+observer +----------------------------------------------+
+ |
+ decision messages
+decision |
+messages |
+copied to |
+any number |
+of interested |
+filter/actuator |
+combinations |
+ |
+ V
+ +-------------+-+---------+---------+
+ | | | |
+ V V V V
+parallel +------------+ +------------+ +------------+
+stateless | filter_1 | | filter_2 | ... | filter_n |
+filters +------------+ +------------+ +------------+
+ | | | |
+ V V V V
+parallel +------------+ +------------+ +------------+
+stateless | actuator_1 | | actuator_2 | ... | actuator_n |
+executors +------------+ +------------+ +------------+
+ | | | |
+ commands commands commands commands
+ | | | |
+ V V V V
+ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+ ~~~~~~~~~~~~~ operating system ~~~~~~~~~~~~~~~~~
+ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~