C2 Communication

• Solely by exchanging messages

• Each component has a top and bottom domain

  • The top specifies the set of notifications to which a component responds, and the set of requests it emits upwards
  • The bottom specifies the set of notifications that a component emits downwards and the set of requests to which it responds

• Central principle: limited visibility (substrate independence)

  • A component within the hierarchy can only be aware of components “above” it and is completely unaware of the components “beneath” it

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