@memoarchitect/ontology 0.13.2 → 0.15.1

package/examples/robot-cell-family/model/sos/sos.sysml

@@ -0,0 +1,31 @@
+// The system of systems: the robot cell, three independently
+// developed and released systems working together for a procedure none of
+// them performs alone. Only this level names the systems together.
+package robot_cell_family_sos {
+    private import memo_core_common::*;
+    private import memo_core_common::MemoIdentity;
+    private import memo_architecture_logical_structure::*;
+    private import robot_cell_family_icds::*;
+    private import robot_cell_family_navigation::*;
+    private import robot_cell_family_manipulation::*;
+    private import robot_cell_family_perception::*;
+
+    part def RoboticCell specializes SystemOfSystems {
+        @MemoIdentity { :>> providedId = "RCF-SOS-001"; :>> label = "Robot Cell"; }
+        attribute :>> systemBoundaryDescription = "The navigation, manipulation and perception systems as used together in one workcell.";
+        attribute :>> constituentOwnership = "Each system is developed, released and approved on its own; the cell is the validated configuration of system releases.";
+
+        part navigation : NavigationSystem :> constituentSystem;
+        part manipulation : ManipulatorSystem :> constituentSystem;
+        part perception : PerceptionSystem :> constituentSystem;
+
+        interface pointCloudFeed : PerceptionToNavigationIcd
+            connect perception.pPointCloudOut to navigation.pPointCloudIn;
+        interface graspEventFeed : ManipulationToNavigationIcd
+            connect manipulation.pGraspEventOut to navigation.pGraspEventIn;
+    }
+
+    part robotCell : RoboticCell {
+        @MemoIdentity { :>> providedId = "RCF-SOS-002"; :>> label = "Robot Cell"; }
+    }
+}

package/examples/robot-cell-family/model/sos/use_cases.sysml

@@ -0,0 +1,25 @@
+// Clinical use cases: their subject is the system of systems, and each
+// includes the system use cases it is made of.
+package robot_cell_family_operational_use_cases {
+    private import memo_core_common::*;
+    private import memo_core_common::MemoIdentity;
+    private import memo_core_enumerations::*;
+    private import memo_architecture_operational_use_cases::*;
+    private import robot_cell_family_shared::*;
+    private import robot_cell_family_sos::*;
+    private import robot_cell_family_navigation::*;
+    private import robot_cell_family_manipulation::*;
+    private import robot_cell_family_perception::*;
+
+    use case ucPerformPickAndPlace : UseCase {
+        @MemoIdentity { :>> providedId = "RCF-UC-001"; :>> label = "Perform Pick And Place"; }
+        attribute :>> useCaseKind = UseCaseKind::clinical;
+        attribute :>> goalStatement = "Move a workpiece by mapping the cell and grasping it.";
+        subject :>> supportingSystem = robotCell;
+        actor operator = cellOperator;
+        actor assistant = cellTechnician;
+        include ucRecordRun { subject :>> supportingSystem = robotCell.perception; }
+        include ucAcquireMap { subject :>> supportingSystem = robotCell.navigation; }
+        include ucExecuteGrasp { subject :>> supportingSystem = robotCell.manipulation; }
+    }
+}

package/examples/robot-cell-family/model/systems/manipulation/manipulation_system.sysml

@@ -0,0 +1,35 @@
+// The manipulator: grasps a workpiece with its gripper and reports each grasp. It imports the family's shared package
+// only.
+package robot_cell_family_manipulation {
+    private import memo_core_common::*;
+    private import memo_core_common::MemoIdentity;
+    private import memo_core_enumerations::*;
+    private import memo_architecture_logical_structure::*;
+    private import memo_architecture_functional_functions::*;
+    private import memo_architecture_operational_use_cases::*;
+    private import robot_cell_family_shared::*;
+
+    part def ManipulatorSystem specializes System {
+        @MemoIdentity { :>> providedId = "RCF-MAN-001"; :>> label = "Manipulator System"; }
+        attribute :>> systemBoundaryDescription = "Arm controller, teach pendant and the gripper drive cable.";
+        port pGraspEventOut : GraspEventPort;
+        part motionController : LogicalComponent :> component {
+            @MemoIdentity { :>> providedId = "RCF-MAN-LC-001"; :>> label = "Motion Controller"; }
+            attribute :>> responsibility = "Regulate delivered power and duration, and report each delivery.";
+        }
+        allocate fnExecuteGrasp to motionController;
+    }
+
+    action fnExecuteGrasp : SystemFunction {
+        @MemoIdentity { :>> providedId = "RCF-MAN-F-001"; :>> label = "Execute Grasp"; }
+        out graspEventOut : GraspEvent;
+        attribute :>> outputSummary = "Grasp made within the set force and time limits, and the event that records it";
+    }
+
+    use case ucExecuteGrasp : UseCase {
+        @MemoIdentity { :>> providedId = "RCF-MAN-UC-001"; :>> label = "Execute Grasp"; }
+        attribute :>> useCaseKind = UseCaseKind::clinical;
+        subject :>> supportingSystem : ManipulatorSystem;
+        actor operator = cellOperator;
+    }
+}

package/examples/robot-cell-family/model/systems/navigation/navigation_system.sysml

@@ -0,0 +1,46 @@
+// The navigation system: builds an occupancy map of the cell from the
+// robot's pose and paints the recorded range data onto it. It imports the
+// family's shared package only.
+package robot_cell_family_navigation {
+    private import memo_core_common::*;
+    private import memo_core_common::MemoIdentity;
+    private import memo_core_enumerations::*;
+    private import memo_architecture_logical_structure::*;
+    private import memo_architecture_functional_functions::*;
+    private import memo_architecture_operational_use_cases::*;
+    private import robot_cell_family_shared::*;
+
+    part def NavigationSystem specializes System {
+        @MemoIdentity { :>> providedId = "RCF-NAV-001"; :>> label = "Navigation System"; }
+        attribute :>> systemBoundaryDescription = "Navigation workstation, pose sensing and the operator interface unit.";
+        part safetyRelay : SafetyRelayModule :> component;
+        port pPointCloudIn : ~PointCloudPort;
+        port pGraspEventIn : ~GraspEventPort;
+        part mapEngine : LogicalComponent :> component {
+            @MemoIdentity { :>> providedId = "RCF-NAV-LC-001"; :>> label = "Map Engine"; }
+            attribute :>> responsibility = "Reconstruct the cell map and annotate it with scan times and grasps.";
+        }
+        allocate fnBuildMap to mapEngine;
+        allocate fnTagGrasp to mapEngine;
+    }
+
+    action fnBuildMap : SystemFunction {
+        @MemoIdentity { :>> providedId = "RCF-NAV-F-001"; :>> label = "Build Occupancy Map"; }
+        in pointCloudIn : PointCloud;
+        out locationOut : RobotPose;
+        attribute :>> outputSummary = "Cell map with local scan times";
+    }
+    action fnTagGrasp : SystemFunction {
+        @MemoIdentity { :>> providedId = "RCF-NAV-F-002"; :>> label = "Tag Grasp On Map"; }
+        in graspEventIn : GraspEvent;
+        attribute :>> outputSummary = "Grasp marker at the robot pose of each grasp";
+    }
+
+    // A system use case: its subject is this system.
+    use case ucAcquireMap : UseCase {
+        @MemoIdentity { :>> providedId = "RCF-NAV-UC-001"; :>> label = "Acquire Occupancy Map"; }
+        attribute :>> useCaseKind = UseCaseKind::clinical;
+        subject :>> supportingSystem : NavigationSystem;
+        actor operator = cellOperator;
+    }
+}

package/examples/robot-cell-family/model/systems/perception/perception_system.sysml

@@ -0,0 +1,37 @@
+// The perception system: acquires and displays depth-camera and lidar
+// signals, and marks procedure events on the perception. It imports the
+// family's shared package only.
+package robot_cell_family_perception {
+    private import memo_core_common::*;
+    private import memo_core_common::MemoIdentity;
+    private import memo_core_enumerations::*;
+    private import memo_architecture_logical_structure::*;
+    private import memo_architecture_functional_functions::*;
+    private import memo_architecture_operational_use_cases::*;
+    private import robot_cell_family_shared::*;
+
+    part def PerceptionSystem specializes System {
+        @MemoIdentity { :>> providedId = "RCF-PER-001"; :>> label = "Perception System"; }
+        attribute :>> systemBoundaryDescription = "Amplifier, perception workstation and review display.";
+        part safetyRelay : SafetyRelayModule :> component;
+        port pPointCloudOut : PointCloudPort;
+        part sensorHub : LogicalComponent :> component {
+            @MemoIdentity { :>> providedId = "RCF-PER-LC-001"; :>> label = "Sensor Hub"; }
+            attribute :>> responsibility = "Filter and timestamp the camera and lidar range data.";
+        }
+        allocate fnAcquirePointClouds to sensorHub;
+    }
+
+    action fnAcquirePointClouds : SystemFunction {
+        @MemoIdentity { :>> providedId = "RCF-PER-F-001"; :>> label = "Acquire Point Clouds"; }
+        out pointCloudOut : PointCloud;
+        attribute :>> outputSummary = "Filtered, timestamped point clouds";
+    }
+
+    use case ucRecordRun : UseCase {
+        @MemoIdentity { :>> providedId = "RCF-PER-UC-001"; :>> label = "Record Run Data"; }
+        attribute :>> useCaseKind = UseCaseKind::clinical;
+        subject :>> supportingSystem : PerceptionSystem;
+        actor operator = cellTechnician;
+    }
+}

package/examples/robot-platform/memo.package.yaml

@@ -0,0 +1,3 @@
+name: robot-platform
+version: 1.0.0
+sysmlDir: model

package/examples/robot-platform/model/platform.sysml

@@ -0,0 +1,15 @@
+// The parts every product of the robot cell family shares, versioned on their own.
+// A family model depends on this package (`dependencies:` in its
+// memo.package.yaml) and builds on these definitions; it never edits them. A
+// change here is a new version of the platform, which each family adopts when
+// it chooses to.
+package robot_platform {
+    private import memo_core_common::*;
+    private import memo_core_common::MemoIdentity;
+    private import memo_architecture_logical_structure::*;
+
+    part def SafetyRelayModule specializes LogicalComponent {
+        @MemoIdentity { :>> providedId = "RCF-LC-001"; :>> label = "Safety Relay Module"; }
+        attribute :>> responsibility = "Isolate the safety-rated circuits from the motion drives' mains supply.";
+    }
+}

package/examples/ros-mobile-robot/README.md

@@ -6,10 +6,11 @@ a ROS 2 mobile logistics robot; the point is the mechanism.
 Extensions are a way to model, so they live in [`extensions/`](../../extensions),
 beside the ontology. This project is one of their consumers.
 
-- `model/catalog/project.sysml` — the binding. It lists three extension modules
-  (`memo_extension_messaging`, `memo_extension_container`, `memo_extension_ros`)
-  in `includedModule`. That is how extensions compose: at the project binding,
-  never by chaining methodologies.
+- `model/methodology/project.sysml` — the binding, and one import:
+  `public import memo_extension_ros::*;`. That import is how the project brings
+  the extension in. ROS publicly imports the messaging and container
+  extensions it builds on, so the one import selects all three. The project
+  never retypes an extension's package names.
 - `model/catalog/ros_mobile_robot.sysml` — the model.
 - `model/catalog/viewpoints/` — diagram views over that catalog.
 

package/examples/ros-mobile-robot/memo.identity.yaml

@@ -0,0 +1,94 @@
+# memo.identity.yaml — element identity registry (auto-generated)
+# Assigned once and never reassigned. COMMIT THIS FILE: deleting it does
+# not regenerate the same identities, it mints new ones, and every
+# external reference to a shortId or uuid then points at nothing.
+# Entries for deleted elements are retained so their numbers stay retired.
+
+elements:
+  "memo_examples_ros_mobile_robot::EmergencyStop":
+    shortId: "ROS-1"
+    uuid: "bb569605-71bd-558a-8d8f-5d02597a42c0"
+  "memo_examples_ros_mobile_robot::LaserScan":
+    shortId: "ROS-4"
+    uuid: "35aa37b0-540e-5fe9-b8dc-0e5bfec683fe"
+  "memo_examples_ros_mobile_robot::VelocityCommand":
+    shortId: "ROS-20"
+    uuid: "9ed2d72e-6ff7-58c9-9d68-3fe453d67aca"
+  "memo_examples_ros_mobile_robot::imageRuntime":
+    shortId: "ROS-2"
+    uuid: "0ae81bfb-b63c-5182-b8bf-163448a2c10f"
+  "memo_examples_ros_mobile_robot::imageSafety":
+    shortId: "ROS-3"
+    uuid: "8e5cbd7a-e974-5770-b310-1ef0a5b5a365"
+  "memo_examples_ros_mobile_robot::nodeComputeUnit":
+    shortId: "PRC-1"
+    uuid: "f012f4cf-3bbc-5e13-a921-be8b084f81ee"
+  "memo_examples_ros_mobile_robot::nodeLidar":
+    shortId: "ROS-5"
+    uuid: "21dc80f4-ce6c-570a-a5da-bf508e98ef73"
+  "memo_examples_ros_mobile_robot::nodeLidar::scanPublisher":
+    shortId: "ROS-6"
+    uuid: "d8a1e19c-72b5-5cce-a10f-874f3a5dc02f"
+  "memo_examples_ros_mobile_robot::nodeNavigation":
+    shortId: "ROS-7"
+    uuid: "d9f9dcbd-f4c2-5dcf-836b-948fdbbe9629"
+  "memo_examples_ros_mobile_robot::nodeNavigation::cmdVelPublisher":
+    shortId: "ROS-8"
+    uuid: "bfcde2bd-2223-5840-b518-8e8716230ee5"
+  "memo_examples_ros_mobile_robot::nodeNavigation::estopSubscriber":
+    shortId: "ROS-9"
+    uuid: "44c5472a-ec14-58f6-9563-33af35e4b53b"
+  "memo_examples_ros_mobile_robot::nodeNavigation::navigateActionServer":
+    shortId: "ROS-10"
+    uuid: "11f058bf-c4c9-5c25-a8be-d2e0b20ba9bd"
+  "memo_examples_ros_mobile_robot::nodeNavigation::scanSubscriber":
+    shortId: "ROS-11"
+    uuid: "0b57eed5-6185-51f0-9506-cfe20bd61119"
+  "memo_examples_ros_mobile_robot::nodeNavigation::setModeClient":
+    shortId: "ROS-12"
+    uuid: "8bd0f7ca-9ed1-5060-b68a-5c5a8ceb8d12"
+  "memo_examples_ros_mobile_robot::nodeSafetyMonitor":
+    shortId: "ROS-13"
+    uuid: "fadad110-7e55-57ee-b8cd-2f72daae72d4"
+  "memo_examples_ros_mobile_robot::nodeSafetyMonitor::cmdVelSubscriber":
+    shortId: "ROS-14"
+    uuid: "34228a62-3284-5cd5-8889-2defd6592e74"
+  "memo_examples_ros_mobile_robot::nodeSafetyMonitor::estopPublisher":
+    shortId: "ROS-15"
+    uuid: "37e91073-360b-5396-8e55-866abd8e0008"
+  "memo_examples_ros_mobile_robot::nodeSafetyMonitor::navigateActionClient":
+    shortId: "ROS-16"
+    uuid: "62b35d0e-c601-538e-93c0-8da00b29c46d"
+  "memo_examples_ros_mobile_robot::nodeSafetyMonitor::scanSubscriber":
+    shortId: "ROS-17"
+    uuid: "49c042fd-58d3-5cd8-82b0-1757476cf833"
+  "memo_examples_ros_mobile_robot::nodeSafetyMonitor::setModeServer":
+    shortId: "ROS-18"
+    uuid: "f04940de-0500-58bd-8c71-3e5d66196d2a"
+  "memo_examples_ros_mobile_robot::rosRuntime":
+    shortId: "ROS-19"
+    uuid: "a3ba9180-e001-5638-8694-5919ef5d2d77"
+  "memo_examples_ros_mobile_robot::swNavigation":
+    shortId: "SFT-1"
+    uuid: "12d88ff9-af9f-5ecb-b5bd-bc08258c1c5a"
+  "memo_examples_ros_mobile_robot::swPerception":
+    shortId: "SFT-2"
+    uuid: "fc44adfc-23e0-5659-b3e3-f8b9f7a72613"
+  "memo_examples_ros_mobile_robot::swSafety":
+    shortId: "SFT-3"
+    uuid: "874c7b51-bef4-50df-b6d0-9709705fd19d"
+  "memo_examples_ros_mobile_robot::topicCmdVel":
+    shortId: "VLC-1"
+    uuid: "1ba4eaf0-6bff-5dab-bbe0-66ed67239c77"
+  "memo_examples_ros_mobile_robot::topicEstop":
+    shortId: "EMR-1"
+    uuid: "1e1f00fe-d949-5a94-afa2-5c6a1137bfb9"
+  "memo_examples_ros_mobile_robot::topicScan":
+    shortId: "LSR-1"
+    uuid: "c8ac13a6-8e7c-54d6-ab31-8df0f9dfefb5"
+  "memo_examples_ros_mobile_robot_project::projectBinding":
+    shortId: "PRJ-1"
+    uuid: "9069eae9-45bc-55b1-a346-fe1526be939e"
+  "memo_examples_ros_mobile_robot_viewpoints_unassigned_views_ros_mobile_robot_overview::rosMobileRobotOverview":
+    shortId: "MMX-1"
+    uuid: "2f4b2bc1-7d42-51a8-912b-28cabe8b6615"

package/examples/ros-mobile-robot/memo.package.yaml

@@ -1,3 +1,5 @@
 name: ros-mobile-robot
-entrypoint: model/catalog/project.sysml
+entrypoint: model/methodology/project.sysml
 include: [model]
+toolchain:
+  packager: internal

package/examples/ros-mobile-robot/model/catalog/ros_mobile_robot.sysml

@@ -47,31 +47,31 @@ package memo_examples_ros_mobile_robot {
     }
 
     item topicScan : LaserScan {
-        @MemoIdentity { :>> providedId = "RMR-TP-001"; } attribute :>> name = "ScanTopic";
+        @MemoIdentity { :>> providedId = "RMR-TP-001"; :>> label = "ScanTopic"; }
     }
     item topicCmdVel : VelocityCommand {
-        @MemoIdentity { :>> providedId = "RMR-TP-002"; } attribute :>> name = "CmdVelTopic";
+        @MemoIdentity { :>> providedId = "RMR-TP-002"; :>> label = "CmdVelTopic"; }
     }
     item topicEstop : EmergencyStop {
-        @MemoIdentity { :>> providedId = "RMR-TP-003"; } attribute :>> name = "EmergencyStopTopic";
+        @MemoIdentity { :>> providedId = "RMR-TP-003"; :>> label = "EmergencyStopTopic"; }
     }
 
     // ── Code ────────────────────────────────────────────────────────────
     part swPerception : SoftwareModule {
         attribute :>> moduleKind = ModuleKind::unit;
-        @MemoIdentity { :>> providedId = "RMR-SW-001"; } attribute :>> name = "PerceptionStack";
+        @MemoIdentity { :>> providedId = "RMR-SW-001"; :>> label = "PerceptionStack"; }
         attribute :>> responsibility = "Lidar driver and obstacle segmentation.";
         attribute :>> safetyClass = SafetyClassKind::B;
     }
     part swNavigation : SoftwareModule {
         attribute :>> moduleKind = ModuleKind::unit;
-        @MemoIdentity { :>> providedId = "RMR-SW-002"; } attribute :>> name = "NavigationStack";
+        @MemoIdentity { :>> providedId = "RMR-SW-002"; :>> label = "NavigationStack"; }
         attribute :>> responsibility = "Global and local planning; velocity command generation.";
         attribute :>> safetyClass = SafetyClassKind::B;
     }
     part swSafety : SoftwareModule {
         attribute :>> moduleKind = ModuleKind::unit;
-        @MemoIdentity { :>> providedId = "RMR-SW-003"; } attribute :>> name = "SafetyMonitor";
+        @MemoIdentity { :>> providedId = "RMR-SW-003"; :>> label = "SafetyMonitor"; }
         attribute :>> responsibility = "Independent watchdog: stops the base on obstacle proximity or missing heartbeat.";
         attribute :>> safetyClass = SafetyClassKind::C;
     }
@@ -84,7 +84,7 @@ package memo_examples_ros_mobile_robot {
     // is exactly what an extension type must NOT decide for the modeller.
     part nodeLidar : RosNode {
         attribute :>> runtimeKind = RuntimeKind::thread;
-        @MemoIdentity { :>> providedId = "RMR-ND-001"; } attribute :>> name = "LidarDriverNode";
+        @MemoIdentity { :>> providedId = "RMR-ND-001"; :>> label = "LidarDriverNode"; }
         attribute :>> nodeNamespace = "/robot/perception";
         attribute :>> lifecycleManaged = true;
         attribute :>> executorModel = "single-threaded executor, composed";
@@ -96,7 +96,6 @@ package memo_examples_ros_mobile_robot {
             attribute :>> deliverySemantics = MessagingDeliveryKind::atMostOnce;
             attribute :>> publishRateHz = 20.0;
             attribute :>> offeredQos {
-                attribute :>> reliability = RosReliabilityKind::bestEffort;
                 attribute :>> durability = RosDurabilityKind::volatile;
                 attribute :>> deadlineMs = 60.0;
                 attribute :>> livelinessLeaseMs = 200.0;
@@ -106,7 +105,7 @@ package memo_examples_ros_mobile_robot {
     }
     part nodeNavigation : RosNode {
         attribute :>> runtimeKind = RuntimeKind::thread;
-        @MemoIdentity { :>> providedId = "RMR-ND-002"; } attribute :>> name = "NavigationNode";
+        @MemoIdentity { :>> providedId = "RMR-ND-002"; :>> label = "NavigationNode"; }
         attribute :>> nodeNamespace = "/robot/navigation";
         attribute :>> lifecycleManaged = true;
         attribute :>> executorModel = "multi-threaded executor, composed";
@@ -118,7 +117,6 @@ package memo_examples_ros_mobile_robot {
             attribute :>> deliverySemantics = MessagingDeliveryKind::atMostOnce;
             attribute :>> lossBehaviour = "hold the last costmap for 200 ms, then command zero velocity";
             attribute :>> requestedQos {
-                attribute :>> reliability = RosReliabilityKind::bestEffort;
                 attribute :>> durability = RosDurabilityKind::volatile;
                 attribute :>> deadlineMs = 60.0;
                 attribute :>> livelinessLeaseMs = 200.0;
@@ -130,7 +128,6 @@ package memo_examples_ros_mobile_robot {
             attribute :>> deliverySemantics = MessagingDeliveryKind::atLeastOnce;
             attribute :>> publishRateHz = 10.0;
             attribute :>> offeredQos {
-                attribute :>> reliability = RosReliabilityKind::reliable;
                 attribute :>> durability = RosDurabilityKind::volatile;
                 attribute :>> deadlineMs = 150.0;
                 attribute :>> livelinessLeaseMs = 300.0;
@@ -142,7 +139,6 @@ package memo_examples_ros_mobile_robot {
             attribute :>> deliverySemantics = MessagingDeliveryKind::atLeastOnce;
             attribute :>> lossBehaviour = "no publisher within the liveliness lease is treated as stop asserted";
             attribute :>> requestedQos {
-                attribute :>> reliability = RosReliabilityKind::reliable;
                 attribute :>> durability = RosDurabilityKind::transientLocal;
                 attribute :>> deadlineMs = 100.0;
                 attribute :>> livelinessLeaseMs = 200.0;
@@ -151,7 +147,6 @@ package memo_examples_ros_mobile_robot {
         }
         inout port setModeClient : RosServiceClient {
             attribute :>> serviceName = "/robot/safety/set_mode";
-            attribute :>> timeoutMs = 500.0;
         }
         inout port navigateActionServer : RosActionServer {
             attribute :>> actionName = "/robot/navigation/navigate_to_pose";
@@ -159,7 +154,7 @@ package memo_examples_ros_mobile_robot {
     }
     part nodeSafetyMonitor : RosNode {
         attribute :>> runtimeKind = RuntimeKind::process;
-        @MemoIdentity { :>> providedId = "RMR-ND-003"; } attribute :>> name = "SafetyMonitorNode";
+        @MemoIdentity { :>> providedId = "RMR-ND-003"; :>> label = "SafetyMonitorNode"; }
         attribute :>> nodeNamespace = "/robot/safety";
         attribute :>> lifecycleManaged = false;
         attribute :>> executorModel = "own process, real-time priority";
@@ -173,18 +168,29 @@ package memo_examples_ros_mobile_robot {
             ref :>> topic = topicScan;
             attribute :>> deliverySemantics = MessagingDeliveryKind::atMostOnce;
             attribute :>> lossBehaviour = "two consecutive misses assert the stop";
+            attribute :>> requestedQos {
+                attribute :>> durability = RosDurabilityKind::volatile;
+                attribute :>> deadlineMs = 60.0;
+                attribute :>> livelinessLeaseMs = 200.0;
+                attribute :>> historyDepth = 5;
+            }
         }
         in port cmdVelSubscriber : RosSubscriber {
             ref :>> topic = topicCmdVel;
             attribute :>> deliverySemantics = MessagingDeliveryKind::atLeastOnce;
             attribute :>> lossBehaviour = "missing velocity commands assert the stop";
+            attribute :>> requestedQos {
+                attribute :>> durability = RosDurabilityKind::volatile;
+                attribute :>> deadlineMs = 150.0;
+                attribute :>> livelinessLeaseMs = 300.0;
+                attribute :>> historyDepth = 1;
+            }
         }
         out port estopPublisher : RosPublisher {
             ref :>> topic = topicEstop;
             attribute :>> deliverySemantics = MessagingDeliveryKind::atLeastOnce;
             attribute :>> publishRateHz = 50.0;
             attribute :>> offeredQos {
-                attribute :>> reliability = RosReliabilityKind::reliable;
                 attribute :>> durability = RosDurabilityKind::transientLocal;
                 attribute :>> deadlineMs = 100.0;
                 attribute :>> livelinessLeaseMs = 200.0;
@@ -209,38 +215,29 @@ package memo_examples_ros_mobile_robot {
     // ── Native topic, service, and action interfaces ───────────────────
     interface scanToNavigation : RosTopicInterface
         connect nodeLidar.scanPublisher to nodeNavigation.scanSubscriber {
-            attribute :>> direction = DirectionKind::output;
         }
     interface scanToSafety : RosTopicInterface
         connect nodeLidar.scanPublisher to nodeSafetyMonitor.scanSubscriber {
-            attribute :>> direction = DirectionKind::output;
         }
     interface cmdVelToSafety : RosTopicInterface
         connect nodeNavigation.cmdVelPublisher to nodeSafetyMonitor.cmdVelSubscriber {
-            attribute :>> direction = DirectionKind::output;
         }
     interface estopToNavigation : RosTopicInterface
         connect nodeSafetyMonitor.estopPublisher to nodeNavigation.estopSubscriber {
-            attribute :>> direction = DirectionKind::output;
         }
 
-    flow of LaserScan from nodeLidar.scanPublisher.payload to nodeNavigation.scanSubscriber.payload;
-    flow of LaserScan from nodeLidar.scanPublisher.payload to nodeSafetyMonitor.scanSubscriber.payload;
-    flow of VelocityCommand from nodeNavigation.cmdVelPublisher.payload to nodeSafetyMonitor.cmdVelSubscriber.payload;
-    flow of EmergencyStop from nodeSafetyMonitor.estopPublisher.payload to nodeNavigation.estopSubscriber.payload;
 
     interface setModeService : RosServiceInterface
         connect nodeNavigation.setModeClient to nodeSafetyMonitor.setModeServer {
-            attribute :>> direction = DirectionKind::inputOutput;
+            attribute :>> timeoutMs = 500.0;
         }
     interface navigateAction : RosActionInterface
         connect nodeSafetyMonitor.navigateActionClient to nodeNavigation.navigateActionServer {
-            attribute :>> direction = DirectionKind::inputOutput;
         }
 
     // ── Deployment: base relations, unchanged ───────────────────────────
     part imageRuntime : RosContainerImage {
-        @MemoIdentity { :>> providedId = "RMR-DU-001"; } attribute :>> name = "RobotRuntimeImage";
+        @MemoIdentity { :>> providedId = "RMR-DU-001"; :>> label = "RobotRuntimeImage"; }
         attribute :>> unitKind = "OCI container image";
         attribute :>> imageReference = "registry.example.com/robot-runtime:2.3.0";
         attribute :>> registry = "registry.example.com";
@@ -251,7 +248,7 @@ package memo_examples_ros_mobile_robot {
         attribute :>> integrityProtection = "image signature + SBOM attestation";
     }
     part imageSafety : RosContainerImage {
-        @MemoIdentity { :>> providedId = "RMR-DU-002"; } attribute :>> name = "SafetyMonitorImage";
+        @MemoIdentity { :>> providedId = "RMR-DU-002"; :>> label = "SafetyMonitorImage"; }
         attribute :>> unitKind = "OCI container image";
         attribute :>> imageReference = "registry.example.com/safety-monitor:2.3.0";
         attribute :>> registry = "registry.example.com";
@@ -266,7 +263,7 @@ package memo_examples_ros_mobile_robot {
     allocation : BuildsInto allocate swSafety to imageSafety;
 
     part nodeComputeUnit : ProcessingNode {
-        @MemoIdentity { :>> providedId = "RMR-HW-001"; } attribute :>> name = "OnboardComputeUnit";
+        @MemoIdentity { :>> providedId = "RMR-HW-001"; :>> label = "OnboardComputeUnit"; }
         attribute :>> nodeKind = ProcessingNodeKind::SoC;
         attribute :>> processorArchitecture = "arm64, 8 core";
         attribute :>> memoryMB = "16384";
@@ -282,7 +279,7 @@ package memo_examples_ros_mobile_robot {
     }
 
     part rosRuntime : RosContainerRuntime {
-        @MemoIdentity { :>> providedId = "RMR-RT-001"; } attribute :>> name = "OnboardRosRuntime";
+        @MemoIdentity { :>> providedId = "RMR-RT-001"; :>> label = "OnboardRosRuntime"; }
         attribute :>> environmentKind = "container runtime";
         attribute :>> osOrRtos = "Linux with PREEMPT_RT";
         attribute :>> orchestrationPlatform = "systemd-managed compose, no cluster orchestrator";

package/examples/ros-mobile-robot/model/{catalog → methodology}/project.sysml

@@ -1,4 +1,4 @@
-// ROS Mobile Robot — project identity and method binding.
+// ROS Mobile Robot — model identity and method binding.
 //
 // The native entrypoint. The imports name what this project contains and the
 // binding names the methodology it is governed by. No YAML file participates.
@@ -16,20 +16,14 @@ package memo_examples_ros_mobile_robot_project {
 
     private import memo_core_common::*;
     private import memo_core_common::MemoIdentity;
-    part projectBinding : ProjectMethodBinding {
-        @MemoIdentity { :>> providedId = "PMB-ROS-MOBILE-ROBOT-001"; }
-        attribute :>> name = "RosMobileRobotProjectMethodBinding";
-        attribute :>> projectName = "ROS Mobile Robot";
+    // The ROS extension, brought into the project by importing it. The import
+    // is public, so it is the project's selection as well as its vocabulary;
+    // ROS publicly imports messaging and container, which come with it.
+    public import memo_extension_ros::*;
+    part projectBinding : ModelMethodBinding {
+        @MemoIdentity { :>> providedId = "PMB-ROS-MOBILE-ROBOT-001"; :>> label = "RosMobileRobotModelMethodBinding"; }
+        attribute :>> modelName = "ROS Mobile Robot";
         ref :>> selectedMethodology = mdDefaultDefinition;
         attribute :>> scopeMode = ScopeModeKind::explicit;
-        // This is the composition mechanism: three independent extensions,
-        // listed here. `includedModule` is [0..*] on both MethodologyDefinition
-        // and ProjectMethodBinding, while `baseMethodology` is [0..1] — so
-        // extensions combine at the binding and never by chaining.
-        attribute :>> includedModule = (
-            "memo_extension_messaging",
-            "memo_extension_container",
-            "memo_extension_ros"
-        );
     }
 }

package/examples/software-only-medical-device/memo.package.yaml

@@ -1,3 +1,5 @@
 name: software-only-medical-device
-entrypoint: model/catalog/project.sysml
+entrypoint: model/methodology/project.sysml
 include: [model]
+toolchain:
+  packager: internal

package/examples/software-only-medical-device/model/catalog/software_only_medical_device.sysml

@@ -21,30 +21,29 @@ package memo_examples_software_only_medical_device {
     private import memo_core_common::*;
     private import memo_core_common::MemoIdentity;
     part swScreeningApp : SoftwareSystem {
-        @MemoIdentity { :>> providedId = "SMD-SW-001"; } attribute :>> name = "ScreeningApplication";
+        @MemoIdentity { :>> providedId = "SMD-SW-001"; :>> label = "ScreeningApplication"; }
         attribute :>> safetyClass = SafetyClassKind::B;
         attribute :>> version = "1.4.0";
     }
     part algGrading : Algorithm {
-        @MemoIdentity { :>> providedId = "SMD-ALG-001"; } attribute :>> name = "RetinopathyGradingModel";
+        @MemoIdentity { :>> providedId = "SMD-ALG-001"; :>> label = "RetinopathyGradingModel"; }
         attribute :>> algorithmKind = "convolutional neural network, locked (non-adaptive)";
         attribute :>> clinicalPerformanceClaim = "sensitivity >= 87%, specificity >= 90% vs. reference standard";
     }
-    part soupInference : SoftwareModule {
-        attribute :>> moduleKind = ModuleKind::soup;
-        @MemoIdentity { :>> providedId = "SMD-SOUP-001"; } attribute :>> name = "InferenceRuntimeLibrary";
-        attribute :>> soupVendor = "third-party OSS";
+    part soupInference : OTSSoftwareModule {
+        @MemoIdentity { :>> providedId = "SMD-SOUP-001"; :>> label = "InferenceRuntimeLibrary"; }
+        attribute :>> supplier = "third-party OSS";
         attribute :>> soupClassification = SOUPClassificationKind::classB;
     }
     part swGradingModule : SoftwareModule {
-        @MemoIdentity { :>> providedId = "SMD-SW-002"; } attribute :>> name = "GradingModule";
+        @MemoIdentity { :>> providedId = "SMD-SW-002"; :>> label = "GradingModule"; }
         attribute :>> responsibility = "Wraps the grading model behind the service API; owns input validation and result structuring.";
         attribute :>> safetyClass = SafetyClassKind::B;
     }
     dependency swGradingModule to soupInference;
 
     part svcGrading : CloudService {
-        @MemoIdentity { :>> providedId = "SMD-RT-001"; } attribute :>> name = "GradingService";
+        @MemoIdentity { :>> providedId = "SMD-RT-001"; :>> label = "GradingService"; }
         attribute :>> serviceContract = "REST /grade: image in, structured finding out";
         attribute :>> discoveryMechanism = "DNS name behind the cluster ingress";
         attribute :>> updatePolicy = "blue/green rollout";
@@ -53,12 +52,12 @@ package memo_examples_software_only_medical_device {
     #refinement dependency svcGrading to swGradingModule;
 
     part duContainerImage : SoftwareDeploymentUnit {
-        @MemoIdentity { :>> providedId = "SMD-DU-001"; } attribute :>> name = "ScreeningServiceImage";
+        @MemoIdentity { :>> providedId = "SMD-DU-001"; :>> label = "ScreeningServiceImage"; }
         attribute :>> unitKind = "OCI container image";
         attribute :>> integrityProtection = "image signature + SBOM attestation";
     }
     part nodeCloud : ProcessingNode {
-        @MemoIdentity { :>> providedId = "SMD-HW-001"; } attribute :>> name = "CloudComputeNode";
+        @MemoIdentity { :>> providedId = "SMD-HW-001"; :>> label = "CloudComputeNode"; }
         attribute :>> nodeKind = ProcessingNodeKind::cloudServer;
         attribute :>> supportsContainerization = true;
         attribute :>> realTimeCapable = false;