[openrtm-users 00435] InPort - OutPort parts

[Mayangsari Maria]

Dear Sir or Madam,
I have some questions about InPort-OutPort that implemented in OpenRTM-aist-0.4.0.

OpenRTM-aist-0.4.0 implements the RT Middleware diagram.
I found the RT Middleware diagram at http://staff.aist.go.jp/t.kotoku/conf/RSW2007/AndoSakamoto.pdf page 12.
In this diagram, i found that there are InPort and OutPort parts.
Also there are put, get, subscribe, reply, and push functions.
I can not find these parts (InPort and OutPort) and the functions in RTC Specification issued by OMG (Nov 2006).
Also, I can not find the part of consumer and service in RTC Specification.

My questions are:
- What are these InPort and OutPort parts?
- What are the connection and difference between these InPort-Outport parts and Port (classes, interfaces) defined in RTC Specification (PortService, PortProfile, etc)?
- If these are related with new RTC specification, is there any link to know the latest RTC Specification?

Looking forward for your response.

Thank you so much for your kind attention.


Best regards,
Maria Niken Mayangsari
KIST IMRC L1348
39-1 Hawolgok-dong Seongbuk-gu
Seoul 136-791
Phone: +82-2-9585763
Fax: +82-2-9585769
Mobile:+82-10-6873-2581
Email: maria.niken ＠ imrc.kist.re.kr