Protobuffers

Overview

Protobuffers are a type of structured messages that allow us to efficiently pass information between multiple subsystems. They have also been defined in this page of the wiki: Starting with Protobufs.

Structure

The protobuffers are divided into components based on the type of information they reference. Through Starting with Protobufs page you can access a Github Repository called "ERC Protobufs" in which you can see all the protobuffers and their structure, but as an example we can focus on "components/basestation/detected_object.proto". Since it is a protobuffer that will mostly be passed from Jonny Boi into the basestation, then it wouldn't make much sense to place it in the driving_board component, for instance.

The protobuffer documentation covers how to begin writing a custom message for anything you may see fit.