<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<componentModule name="composite">
  <composite name="Detector_composite" type="::comp_types::Detector">
    <part name="detector" ref="::atomic::Detector_atomic"/>
    <part name="filter" ref="Filter_atomic"/>
    <connection name="cnt1" ref="::ucm_core::messages::simple_msg_cnt">
      <end name="cnt1_filter" part="filter" port="filter_out"/>
      <end name="cnt1_detector" part="detector" port="detector_in"/>
    </connection>
    <portDelegation extPort="detector_in" name="filter_in" part="filter" port="filter_in"/>
    <portDelegation extPort="detector_out" name="filter_out" part="detector" port="detector_out"/>
  </composite>
  <atomic lang="::lang::Cpp11" name="Filter_atomic" type="Filter">
    <policyRef ref="passive_filter"/>
  </atomic>
  <policy def="::ucm_core::comp_exec::unpr_pasv_comp" name="passive_filter">
    <componentRef ref="Filter_atomic"/>
  </policy>
  <compType name="Filter">
    <port bindings="::comp_types::image_msg" name="filter_in" type="::ucm_core::messages::msg_rcvr_pt"/>
    <port bindings="::comp_types::image_msg" name="filter_out" type="::ucm_core::messages::msg_emtr_pt"/>
  </compType>
</componentModule>
