I am trying to model a robot controller I am working on. If I would think in Object-oriented design, I would come up with a component diagram like this :

However, we use a data-oriented framework (ROS/Orocos), so components are linked together with "ports". In our system, for instance, the WheelsInterface has a output port actualVelocity and an input port commandVelocity ``

I am not sure how to represent this in UML. I have tried to represent output ports by interface realization and input port by interface dependency, but it seems wrong.

Is there a better way to represent the data flow between components in UML ? Or should I stick to the first diagram, bud add some kind of qualifiers to the lines?