The primary modern meaning for sally port is a secure, controlled
entryway, as of a fortification or a prison. The entrance is usually
protected by some means, such as with a fixed wall blocking the door
which must be circumvented before entering, but which prevents direct
enemy fire from a distance. It may include the use of two doors such as
with an airlock.
In former times, from around 1600 to 1900, a "sally port" was a sort of
dock where boats would pick up a ship's crew and ferry them to the
vessel anchored offshore, or vice versa. The term is occasionally still
used today, especially in coastal Great Britain. However, there are not
many old sally ports left. This one is in Edinburgh.

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