Hello

> 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.

In OMG RTC specification, only the "Port", which is end point for interaction
between RTCs, is defined. The "Port" can have some provided/required
interfaces in it.
However, in the specification what kind of interfaces can be attached
to the Ports
Implementers can chose any kind of interfaces.

> My questions are:
> - What are these InPort and OutPort parts?

InPort and OutPort in OpenRTM-aist are special "Port" to handle
data-centric or data-stream communication between RTCs.
In/OutPort is derived from "Port" that is defined in OMG RTC Specification.
In OpenRTM-aist, InPort has an "InPortAny" provided interface and an
"OutPortAny" required interface. OutPort has an "OutPortAny" provided interface
and an "InPortAny" required interface.

> - What are the connection and difference between these InPort-Outport parts and Port (classes, interfaces) defined in RTC Specification (PortService, PortProfile, etc)?

When an InPort and an OutPort are connected, each interface is
connected as the following.
- InPort::InPortAny provided I/F ---- OurtPort::InPortAny requied I/F
- InPort::OutPortAny required I/F ---- OurtPort::OutPortAny provided I/F

> - If these are related with new RTC specification, is there any link to know the latest RTC Specification?

The official OMG RTC specification will be released soon.
Now the specification is 1.0 Beta 2.
You can find the latest OMG's specification in the following web page.
http://www.omg.org/technology/documents/domain_spec_catalog.htm

Best regards,
Noriaki Ando