Lots of property tables in the specification have name, value and description columns. However the type of values are undefined. To clear the definition of the type of each value, the 'type' column should be added to property tables.

Added type column to property tables

According to the beta specification, the type of a property is not defined and it prevents implementing the specification. To show the type of a property clearly, the type column has been added to property tables.

In ExtendedFsmService.idl, ExtendedFsmService::get_fsm_structure returns FsmStructure. However, according to the specification, ExtendedFsmService::get_fsm_structure shall return ReturnCode_t.

Fix the return type of ExtendedFsmService::get_fsm_structure

Changed the return type of ExtendedFsmService::get_fsm_structure from FsmStructure to ReturnCode_t.

A sequence diagram with alternative combination fragments will describe the workflow in the Figure 7.21 more clearly.

Replace the activity diagram of Figure 7.21 with a sequence diagram

To show the connect operation clearer, the activity diagram is replaced with a sequence diagram.

In the XMI file robotics/2014-09-04 there are copies of packages SDOPackage and PrimitiveTypes rather than references (via href) to the OMG standard URLs for these

A primitive type “void” is used instead of the operation having no return parameter.

Fix copies of types in XMI file robotics/2014-09-04

Copies of packages RTC, SDOPackage and PrimitiveTypes in XMI file robotics/2014-09-04 have been replaced with references.

The specification have to explain what is overwritten (ex. the last data) if the 'dataport.write.buffer.full_policy' is 'overwrite'.

The explanation for the overwrite policy of 'dataport.write.buffer.full_policy' has been added

The explanation has been added to the each overwrite policy.

Platform specific representations should not used in PIM models.

PSM representations in the PIM section have been replaced

PSM representations in the PIM section have been replaced with PIM representations.

In Section 7.2.5.3, the direction of fsm_structure argument of ExtendedFsmService::get_fsm_structure method should be 'out' rather than 'inout'

Fix the direction of the parameter of ExtendedFsmService::get_fsm_structure

The direction of fsm_structure parameter has been change to 'out' from 'inout'.

In Figure 7.9 and Figure 7.14, the sequence diagram does not show:

• the timing when RTObject calls update_status
• the timing when Tool calls remove_service
• the timing when ComponentObserver is destroyed.

Add timing information to Figure 7.9 and Figure 7.14

To show timing information clearer, opt fragments are added to sequence diagrams in Figure 7.9 and Figure 7.14.

In Section 7.2.4.2, each element of the table of hints is hard to understand with out any detail description.

Explanations and examples have been added to the hint argument of ComponentObserver::update_status

To make the usage of hint argument of ComponentObserver::update_status clearer, explanations and examples have been added to each definition of hint in Section 7.2.4.2.

In Figure 7.3, references from the RTC specification are required to show the relationship among elements.

Update Figure 7.3

To show relationship with FSM4RTC and RTC clearer, name spaces and boundaries have been added to Figure 7.3.

In the Use Case diagram as Figure 7.2, unfamiliar elements such as packages and dependencies are used. These elements should be replaced with actors, use cases and boundaries to show the relationship among elements clearly.

Update the use case diagram of Figure 7.2

To make it clearer, the use case diagram of Figure 7.2 has been updated with usual elements such as boundaries and actors instead of packages.

In Section 7.2.6.3, descriptions are omitted for some properties.
This must be fixed.

Omitted descriptions in Section 7.2.6.3 have been added

Omitted descriptions of tables to explain the meaning of properties in Section 7.2.6.3 has been added.

In Figure 7.23 and Figure 7.25, sequence diagrams should show phases of communication between ports such as 'connect' with alternative combination fragments.

Add alternative sections to sequence diagrams in Figure 7.23 and 7.25

To show each phase such as connection clearer, alternative sections has been added to sequence diagram in Figure 7.23 and Figure 7.25.

In Figure 7.1, "an example declaration of FSM component (non-normative)" defines FsmComponent which inherits RTC::FSM as an interface.
However, in the RTC specification there is no definition of RTC::FSM interface.

Replace Figure 7.1 with the Figure 5.21 of the RTC specification

FSM4RTC does not specify any FSM component. Thus, it is relevant to use the same figure as the RTC specification.