At least one medium, readable by at least one data processing device, the medium embodying a plurality of interconnected functional modules organized into hierarchical levels, each module embodying a respective abstract state-based machine, the embodiment comprising the following embodied in the medium:
- a single step scheduler;
- at least one non-top level first module comprising respective link means to a single second module at a next higher level, the link means comprising
- a transformer link for enabling a change of state of the first module responsive to the second module;
- an observer link for receiving a state inquiry signal from the second module;
- an event link for outputting a solicited event signal to the second module;
- retrosignalling means for retrosignalling the internal autonomously executed step;
- at least one non-bottom module, including the second module, each non-bottom module comprising at least one interface for accommodating the link means from at least one relevant one of the at least one non-top level first module, at least one of the non-bottom modules being a top module, the top module comprising means for signal exchanging with an environment;
- wherein
- the at least one non-top first module enters each said step in the step scheduler in order to render such step autonomously executable in response to a preconditioning transformer signal received from said second module.