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Object.assign.bind() : function (target) { for (var i = 1; i < arguments.length; i++) { var source = arguments[i]; for (var key in source) { if (Object.prototype.hasOwnProperty.call(source, key)) { target[key] = source[key]; } } } return target; }; return _extends.apply(this, arguments); }\n\nfunction _objectWithoutProperties(source, excluded) { if (source == null) return {}; var target = _objectWithoutPropertiesLoose(source, excluded); var key, i; if (Object.getOwnPropertySymbols) { var sourceSymbolKeys = Object.getOwnPropertySymbols(source); for (i = 0; i < sourceSymbolKeys.length; i++) { key = sourceSymbolKeys[i]; if (excluded.indexOf(key) >= 0) continue; if (!Object.prototype.propertyIsEnumerable.call(source, key)) continue; target[key] = source[key]; } } return target; }\n\nfunction _objectWithoutPropertiesLoose(source, excluded) { if (source == null) return {}; var target = {}; var sourceKeys = Object.keys(source); var key, i; for (i = 0; i < sourceKeys.length; i++) { key = sourceKeys[i]; if (excluded.indexOf(key) >= 0) continue; target[key] = source[key]; } return target; }\n\n/* @jsxRuntime classic */\n\n/* @jsx mdx */\nvar _frontmatter = {\n  \"section\": \"System\",\n  \"chapter\": \"Modules\",\n  \"title\": \"Network\",\n  \"description\": \"Documentation for each network module in the main NUbots codebase\",\n  \"slug\": \"/system/modules/network/\"\n};\nvar layoutProps = {\n  _frontmatter: _frontmatter\n};\nvar MDXLayout = \"wrapper\";\nreturn function MDXContent(_ref) {\n  var components = _ref.components,\n      props = _objectWithoutProperties(_ref, _excluded);\n\n  return mdx(MDXLayout, _extends({}, layoutProps, props, {\n    components: components,\n    mdxType: \"MDXLayout\"\n  }), mdx(\"h2\", {\n    \"id\": \"networkforwarder\",\n    \"style\": {\n      \"position\": \"relative\"\n    }\n  }, mdx(\"a\", {\n    parentName: \"h2\",\n    \"href\": \"#networkforwarder\",\n    \"aria-label\": \"networkforwarder permalink\",\n    \"className\": \"anchor before\"\n  }, mdx(\"svg\", {\n    parentName: \"a\",\n    \"aria-hidden\": \"true\",\n    \"focusable\": \"false\",\n    \"height\": \"16\",\n    \"version\": \"1.1\",\n    \"viewBox\": \"0 0 16 16\",\n    \"width\": \"16\"\n  }, mdx(\"path\", {\n    parentName: \"svg\",\n    \"fillRule\": \"evenodd\",\n    \"d\": \"M4 9h1v1H4c-1.5 0-3-1.69-3-3.5S2.55 3 4 3h4c1.45 0 3 1.69 3 3.5 0 1.41-.91 2.72-2 3.25V8.59c.58-.45 1-1.27 1-2.09C10 5.22 8.98 4 8 4H4c-.98 0-2 1.22-2 2.5S3 9 4 9zm9-3h-1v1h1c1 0 2 1.22 2 2.5S13.98 12 13 12H9c-.98 0-2-1.22-2-2.5 0-.83.42-1.64 1-2.09V6.25c-1.09.53-2 1.84-2 3.25C6 11.31 7.55 13 9 13h4c1.45 0 3-1.69 3-3.5S14.5 6 13 6z\"\n  }))), \"NetworkForwarder\"), mdx(\"h3\", {\n    \"id\": \"description\",\n    \"style\": {\n      \"position\": \"relative\"\n    }\n  }, mdx(\"a\", {\n    parentName: \"h3\",\n    \"href\": \"#description\",\n    \"aria-label\": \"description permalink\",\n    \"className\": \"anchor before\"\n  }, mdx(\"svg\", {\n    parentName: \"a\",\n    \"aria-hidden\": \"true\",\n    \"focusable\": \"false\",\n    \"height\": \"16\",\n    \"version\": \"1.1\",\n    \"viewBox\": \"0 0 16 16\",\n    \"width\": \"16\"\n  }, mdx(\"path\", {\n    parentName: \"svg\",\n    \"fillRule\": \"evenodd\",\n    \"d\": \"M4 9h1v1H4c-1.5 0-3-1.69-3-3.5S2.55 3 4 3h4c1.45 0 3 1.69 3 3.5 0 1.41-.91 2.72-2 3.25V8.59c.58-.45 1-1.27 1-2.09C10 5.22 8.98 4 8 4H4c-.98 0-2 1.22-2 2.5S3 9 4 9zm9-3h-1v1h1c1 0 2 1.22 2 2.5S13.98 12 13 12H9c-.98 0-2-1.22-2-2.5 0-.83.42-1.64 1-2.09V6.25c-1.09.53-2 1.84-2 3.25C6 11.31 7.55 13 9 13h4c1.45 0 3-1.69 3-3.5S14.5 6 13 6z\"\n  }))), \"Description\"), mdx(\"p\", null, \"Forwards selected NUClear messages to named network targets over NUClearNet.\"), mdx(\"p\", null, \"Forwarding is configured per target and per message type in \", mdx(\"inlineCode\", {\n    parentName: \"p\"\n  }, \"NetworkForwarder.yaml\"), \".\\nEach type can be disabled, sent at full rate, or rate-limited to a maximum frequency.\"), mdx(\"p\", null, \"If a message type has an \", mdx(\"inlineCode\", {\n    parentName: \"p\"\n  }, \"id\"), \" field, rate limiting is applied per-id. Otherwise, a single global rate limit is used for that message type/target.\"), mdx(\"h3\", {\n    \"id\": \"usage\",\n    \"style\": {\n      \"position\": \"relative\"\n    }\n  }, mdx(\"a\", {\n    parentName: \"h3\",\n    \"href\": \"#usage\",\n    \"aria-label\": \"usage permalink\",\n    \"className\": \"anchor before\"\n  }, mdx(\"svg\", {\n    parentName: \"a\",\n    \"aria-hidden\": \"true\",\n    \"focusable\": \"false\",\n    \"height\": \"16\",\n    \"version\": \"1.1\",\n    \"viewBox\": \"0 0 16 16\",\n    \"width\": \"16\"\n  }, mdx(\"path\", {\n    parentName: \"svg\",\n    \"fillRule\": \"evenodd\",\n    \"d\": \"M4 9h1v1H4c-1.5 0-3-1.69-3-3.5S2.55 3 4 3h4c1.45 0 3 1.69 3 3.5 0 1.41-.91 2.72-2 3.25V8.59c.58-.45 1-1.27 1-2.09C10 5.22 8.98 4 8 4H4c-.98 0-2 1.22-2 2.5S3 9 4 9zm9-3h-1v1h1c1 0 2 1.22 2 2.5S13.98 12 13 12H9c-.98 0-2-1.22-2-2.5 0-.83.42-1.64 1-2.09V6.25c-1.09.53-2 1.84-2 3.25C6 11.31 7.55 13 9 13h4c1.45 0 3-1.69 3-3.5S14.5 6 13 6z\"\n  }))), \"Usage\"), mdx(\"p\", null, \"Configure targets and message types in \", mdx(\"inlineCode\", {\n    parentName: \"p\"\n  }, \"data/config/NetworkForwarder.yaml\"), \":\"), mdx(\"ul\", null, mdx(\"li\", {\n    parentName: \"ul\"\n  }, mdx(\"inlineCode\", {\n    parentName: \"li\"\n  }, \"false\"), \": disable forwarding for this message type\"), mdx(\"li\", {\n    parentName: \"ul\"\n  }, mdx(\"inlineCode\", {\n    parentName: \"li\"\n  }, \"true\"), \": forward every message\"), mdx(\"li\", {\n    parentName: \"ul\"\n  }, mdx(\"inlineCode\", {\n    parentName: \"li\"\n  }, \"<number>\"), \": forward at most \", mdx(\"inlineCode\", {\n    parentName: \"li\"\n  }, \"<number>\"), \" messages per second (fps)\")), mdx(\"p\", null, \"Example:\"), mdx(\"pre\", null, mdx(\"code\", {\n    parentName: \"pre\",\n    \"className\": \"language-yaml\"\n  }, \"targets:\\n    nusight:\\n        message.support.nusight.Overview: true\\n        message.output.CompressedImage: 10\\n        message.nuclear.LogMessage: false\\n\")), mdx(\"p\", null, \"Notes:\"), mdx(\"ul\", null, mdx(\"li\", {\n    parentName: \"ul\"\n  }, \"Message names use protobuf-style dotted names (e.g. \", mdx(\"inlineCode\", {\n    parentName: \"li\"\n  }, \"message.support.nusight.Overview\"), \")\"), mdx(\"li\", {\n    parentName: \"ul\"\n  }, \"Unknown type names are ignored with a warning\"), mdx(\"li\", {\n    parentName: \"ul\"\n  }, \"Reactions are enabled only when at least one target is subscribed to that message type\")), mdx(\"h3\", {\n    \"id\": \"consumes\",\n    \"style\": {\n      \"position\": \"relative\"\n    }\n  }, mdx(\"a\", {\n    parentName: \"h3\",\n    \"href\": \"#consumes\",\n    \"aria-label\": \"consumes permalink\",\n    \"className\": \"anchor before\"\n  }, mdx(\"svg\", {\n    parentName: \"a\",\n    \"aria-hidden\": \"true\",\n    \"focusable\": \"false\",\n    \"height\": \"16\",\n    \"version\": \"1.1\",\n    \"viewBox\": \"0 0 16 16\",\n    \"width\": \"16\"\n  }, mdx(\"path\", {\n    parentName: \"svg\",\n    \"fillRule\": \"evenodd\",\n    \"d\": \"M4 9h1v1H4c-1.5 0-3-1.69-3-3.5S2.55 3 4 3h4c1.45 0 3 1.69 3 3.5 0 1.41-.91 2.72-2 3.25V8.59c.58-.45 1-1.27 1-2.09C10 5.22 8.98 4 8 4H4c-.98 0-2 1.22-2 2.5S3 9 4 9zm9-3h-1v1h1c1 0 2 1.22 2 2.5S13.98 12 13 12H9c-.98 0-2-1.22-2-2.5 0-.83.42-1.64 1-2.09V6.25c-1.09.53-2 1.84-2 3.25C6 11.31 7.55 13 9 13h4c1.45 0 3-1.69 3-3.5S14.5 6 13 6z\"\n  }))), \"Consumes\"), mdx(\"ul\", null, mdx(\"li\", {\n    parentName: \"ul\"\n  }, mdx(\"inlineCode\", {\n    parentName: \"li\"\n  }, \"extension::Configuration\"), \" from \", mdx(\"inlineCode\", {\n    parentName: \"li\"\n  }, \"NetworkForwarder.yaml\")), mdx(\"li\", {\n    parentName: \"ul\"\n  }, \"Dynamically registered NUClear messages listed in \", mdx(\"inlineCode\", {\n    parentName: \"li\"\n  }, \"targets\"), \" (one reaction per known type)\")), mdx(\"h3\", {\n    \"id\": \"emits\",\n    \"style\": {\n      \"position\": \"relative\"\n    }\n  }, mdx(\"a\", {\n    parentName: \"h3\",\n    \"href\": \"#emits\",\n    \"aria-label\": \"emits permalink\",\n    \"className\": \"anchor before\"\n  }, mdx(\"svg\", {\n    parentName: \"a\",\n    \"aria-hidden\": \"true\",\n    \"focusable\": \"false\",\n    \"height\": \"16\",\n    \"version\": \"1.1\",\n    \"viewBox\": \"0 0 16 16\",\n    \"width\": \"16\"\n  }, mdx(\"path\", {\n    parentName: \"svg\",\n    \"fillRule\": \"evenodd\",\n    \"d\": \"M4 9h1v1H4c-1.5 0-3-1.69-3-3.5S2.55 3 4 3h4c1.45 0 3 1.69 3 3.5 0 1.41-.91 2.72-2 3.25V8.59c.58-.45 1-1.27 1-2.09C10 5.22 8.98 4 8 4H4c-.98 0-2 1.22-2 2.5S3 9 4 9zm9-3h-1v1h1c1 0 2 1.22 2 2.5S13.98 12 13 12H9c-.98 0-2-1.22-2-2.5 0-.83.42-1.64 1-2.09V6.25c-1.09.53-2 1.84-2 3.25C6 11.31 7.55 13 9 13h4c1.45 0 3-1.69 3-3.5S14.5 6 13 6z\"\n  }))), \"Emits\"), mdx(\"ul\", null, mdx(\"li\", {\n    parentName: \"ul\"\n  }, \"Configured message types forwarded via \", mdx(\"inlineCode\", {\n    parentName: \"li\"\n  }, \"Scope::NETWORK\"), \" to each configured target\")), mdx(\"h3\", {\n    \"id\": \"dependencies\",\n    \"style\": {\n      \"position\": \"relative\"\n    }\n  }, mdx(\"a\", {\n    parentName: \"h3\",\n    \"href\": \"#dependencies\",\n    \"aria-label\": \"dependencies permalink\",\n    \"className\": \"anchor before\"\n  }, mdx(\"svg\", {\n    parentName: \"a\",\n    \"aria-hidden\": \"true\",\n    \"focusable\": \"false\",\n    \"height\": \"16\",\n    \"version\": \"1.1\",\n    \"viewBox\": \"0 0 16 16\",\n    \"width\": \"16\"\n  }, mdx(\"path\", {\n    parentName: \"svg\",\n    \"fillRule\": \"evenodd\",\n    \"d\": \"M4 9h1v1H4c-1.5 0-3-1.69-3-3.5S2.55 3 4 3h4c1.45 0 3 1.69 3 3.5 0 1.41-.91 2.72-2 3.25V8.59c.58-.45 1-1.27 1-2.09C10 5.22 8.98 4 8 4H4c-.98 0-2 1.22-2 2.5S3 9 4 9zm9-3h-1v1h1c1 0 2 1.22 2 2.5S13.98 12 13 12H9c-.98 0-2-1.22-2-2.5 0-.83.42-1.64 1-2.09V6.25c-1.09.53-2 1.84-2 3.25C6 11.31 7.55 13 9 13h4c1.45 0 3-1.69 3-3.5S14.5 6 13 6z\"\n  }))), \"Dependencies\"), mdx(\"ul\", null, mdx(\"li\", {\n    parentName: \"ul\"\n  }, \"NUClear networking (\", mdx(\"inlineCode\", {\n    parentName: \"li\"\n  }, \"Scope::NETWORK\"), \")\"), mdx(\"li\", {\n    parentName: \"ul\"\n  }, \"Python 3 at build time (used to generate message handle registrations)\")), mdx(\"h2\", {\n    \"id\": \"nuclearnet\",\n    \"style\": {\n      \"position\": \"relative\"\n    }\n  }, mdx(\"a\", {\n    parentName: \"h2\",\n    \"href\": \"#nuclearnet\",\n    \"aria-label\": \"nuclearnet permalink\",\n    \"className\": \"anchor before\"\n  }, mdx(\"svg\", {\n    parentName: \"a\",\n    \"aria-hidden\": \"true\",\n    \"focusable\": \"false\",\n    \"height\": \"16\",\n    \"version\": \"1.1\",\n    \"viewBox\": \"0 0 16 16\",\n    \"width\": \"16\"\n  }, mdx(\"path\", {\n    parentName: \"svg\",\n    \"fillRule\": \"evenodd\",\n    \"d\": \"M4 9h1v1H4c-1.5 0-3-1.69-3-3.5S2.55 3 4 3h4c1.45 0 3 1.69 3 3.5 0 1.41-.91 2.72-2 3.25V8.59c.58-.45 1-1.27 1-2.09C10 5.22 8.98 4 8 4H4c-.98 0-2 1.22-2 2.5S3 9 4 9zm9-3h-1v1h1c1 0 2 1.22 2 2.5S13.98 12 13 12H9c-.98 0-2-1.22-2-2.5 0-.83.42-1.64 1-2.09V6.25c-1.09.53-2 1.84-2 3.25C6 11.31 7.55 13 9 13h4c1.45 0 3-1.69 3-3.5S14.5 6 13 6z\"\n  }))), \"NUClearNet\"), mdx(\"p\", null, \"This module is responsible for connecting the system to the NUClear Network.\\nIt establishes network connectivity between different NUClearNet systems that are on the same network.\"), mdx(\"p\", null, \"The module requires proper network connectivity to function.\\nDepending on the chosen networking mode, the following must be available:\"), mdx(\"ul\", null, mdx(\"li\", {\n    parentName: \"ul\"\n  }, \"For unicast mode: Direct connectivity to the target system\"), mdx(\"li\", {\n    parentName: \"ul\"\n  }, \"For broadcast mode: Network broadcast capabilities\"), mdx(\"li\", {\n    parentName: \"ul\"\n  }, \"For multicast mode: Multicast routing support on the network\")), mdx(\"h4\", {\n    \"id\": \"name\",\n    \"style\": {\n      \"position\": \"relative\"\n    }\n  }, mdx(\"a\", {\n    parentName: \"h4\",\n    \"href\": \"#name\",\n    \"aria-label\": \"name permalink\",\n    \"className\": \"anchor before\"\n  }, mdx(\"svg\", {\n    parentName: \"a\",\n    \"aria-hidden\": \"true\",\n    \"focusable\": \"false\",\n    \"height\": \"16\",\n    \"version\": \"1.1\",\n    \"viewBox\": \"0 0 16 16\",\n    \"width\": \"16\"\n  }, mdx(\"path\", {\n    parentName: \"svg\",\n    \"fillRule\": \"evenodd\",\n    \"d\": \"M4 9h1v1H4c-1.5 0-3-1.69-3-3.5S2.55 3 4 3h4c1.45 0 3 1.69 3 3.5 0 1.41-.91 2.72-2 3.25V8.59c.58-.45 1-1.27 1-2.09C10 5.22 8.98 4 8 4H4c-.98 0-2 1.22-2 2.5S3 9 4 9zm9-3h-1v1h1c1 0 2 1.22 2 2.5S13.98 12 13 12H9c-.98 0-2-1.22-2-2.5 0-.83.42-1.64 1-2.09V6.25c-1.09.53-2 1.84-2 3.25C6 11.31 7.55 13 9 13h4c1.45 0 3-1.69 3-3.5S14.5 6 13 6z\"\n  }))), \"Name\"), mdx(\"p\", null, \"If the name is left as an empty string in the configuration, the system will use the current host name as the name of the NUClearNet node.\"), mdx(\"h4\", {\n    \"id\": \"address\",\n    \"style\": {\n      \"position\": \"relative\"\n    }\n  }, mdx(\"a\", {\n    parentName: \"h4\",\n    \"href\": \"#address\",\n    \"aria-label\": \"address permalink\",\n    \"className\": \"anchor before\"\n  }, mdx(\"svg\", {\n    parentName: \"a\",\n    \"aria-hidden\": \"true\",\n    \"focusable\": \"false\",\n    \"height\": \"16\",\n    \"version\": \"1.1\",\n    \"viewBox\": \"0 0 16 16\",\n    \"width\": \"16\"\n  }, mdx(\"path\", {\n    parentName: \"svg\",\n    \"fillRule\": \"evenodd\",\n    \"d\": \"M4 9h1v1H4c-1.5 0-3-1.69-3-3.5S2.55 3 4 3h4c1.45 0 3 1.69 3 3.5 0 1.41-.91 2.72-2 3.25V8.59c.58-.45 1-1.27 1-2.09C10 5.22 8.98 4 8 4H4c-.98 0-2 1.22-2 2.5S3 9 4 9zm9-3h-1v1h1c1 0 2 1.22 2 2.5S13.98 12 13 12H9c-.98 0-2-1.22-2-2.5 0-.83.42-1.64 1-2.09V6.25c-1.09.53-2 1.84-2 3.25C6 11.31 7.55 13 9 13h4c1.45 0 3-1.69 3-3.5S14.5 6 13 6z\"\n  }))), \"Address\"), mdx(\"p\", null, \"The NUClearNet system can take an IP address or a dns name as the address.\\nThe address is able to resolve to either IPv4 or IPv6 address.\\nThere are three main ways you can configure the network and use it.\"), mdx(\"h5\", {\n    \"id\": \"unicast-mode\",\n    \"style\": {\n      \"position\": \"relative\"\n    }\n  }, mdx(\"a\", {\n    parentName: \"h5\",\n    \"href\": \"#unicast-mode\",\n    \"aria-label\": \"unicast mode permalink\",\n    \"className\": \"anchor before\"\n  }, mdx(\"svg\", {\n    parentName: \"a\",\n    \"aria-hidden\": \"true\",\n    \"focusable\": \"false\",\n    \"height\": \"16\",\n    \"version\": \"1.1\",\n    \"viewBox\": \"0 0 16 16\",\n    \"width\": \"16\"\n  }, mdx(\"path\", {\n    parentName: \"svg\",\n    \"fillRule\": \"evenodd\",\n    \"d\": \"M4 9h1v1H4c-1.5 0-3-1.69-3-3.5S2.55 3 4 3h4c1.45 0 3 1.69 3 3.5 0 1.41-.91 2.72-2 3.25V8.59c.58-.45 1-1.27 1-2.09C10 5.22 8.98 4 8 4H4c-.98 0-2 1.22-2 2.5S3 9 4 9zm9-3h-1v1h1c1 0 2 1.22 2 2.5S13.98 12 13 12H9c-.98 0-2-1.22-2-2.5 0-.83.42-1.64 1-2.09V6.25c-1.09.53-2 1.84-2 3.25C6 11.31 7.55 13 9 13h4c1.45 0 3-1.69 3-3.5S14.5 6 13 6z\"\n  }))), \"Unicast Mode\"), mdx(\"p\", null, \"In Unicast mode, you connect from this device to another device on a specific other system.\\nThis address may also be \", mdx(\"inlineCode\", {\n    parentName: \"p\"\n  }, \"127.0.0.1\"), \" if you wish to only connect to other NUClearNet binaries on the same system.\\nIn Unicast mode, you set the IP address here to the IP address of the other system you wish to connect to and on that system set the IP address of this system.\\nThis form of networking is useful when you are debugging and wish to make a small isolated NUClearNet system.\"), mdx(\"h5\", {\n    \"id\": \"broadcast-mode\",\n    \"style\": {\n      \"position\": \"relative\"\n    }\n  }, mdx(\"a\", {\n    parentName: \"h5\",\n    \"href\": \"#broadcast-mode\",\n    \"aria-label\": \"broadcast mode permalink\",\n    \"className\": \"anchor before\"\n  }, mdx(\"svg\", {\n    parentName: \"a\",\n    \"aria-hidden\": \"true\",\n    \"focusable\": \"false\",\n    \"height\": \"16\",\n    \"version\": \"1.1\",\n    \"viewBox\": \"0 0 16 16\",\n    \"width\": \"16\"\n  }, mdx(\"path\", {\n    parentName: \"svg\",\n    \"fillRule\": \"evenodd\",\n    \"d\": \"M4 9h1v1H4c-1.5 0-3-1.69-3-3.5S2.55 3 4 3h4c1.45 0 3 1.69 3 3.5 0 1.41-.91 2.72-2 3.25V8.59c.58-.45 1-1.27 1-2.09C10 5.22 8.98 4 8 4H4c-.98 0-2 1.22-2 2.5S3 9 4 9zm9-3h-1v1h1c1 0 2 1.22 2 2.5S13.98 12 13 12H9c-.98 0-2-1.22-2-2.5 0-.83.42-1.64 1-2.09V6.25c-1.09.53-2 1.84-2 3.25C6 11.31 7.55 13 9 13h4c1.45 0 3-1.69 3-3.5S14.5 6 13 6z\"\n  }))), \"Broadcast Mode\"), mdx(\"p\", null, \"In broadcast mode, you set the address to the broadcast IP of your network (e.g. \", mdx(\"inlineCode\", {\n    parentName: \"p\"\n  }, \"192.168.1.255\"), \" for the network \", mdx(\"inlineCode\", {\n    parentName: \"p\"\n  }, \"192.168.1.0/24\"), \").\\nIn this mode you will connect to all other systems that are running on that same network.\\nIn general you should prefer multicast mode over this mode so that you only send packets to systems that are specifically part of the NUClearNet node rather than sending to all computers on the network and using up the bandwidth.\"), mdx(\"h5\", {\n    \"id\": \"multicast-mode\",\n    \"style\": {\n      \"position\": \"relative\"\n    }\n  }, mdx(\"a\", {\n    parentName: \"h5\",\n    \"href\": \"#multicast-mode\",\n    \"aria-label\": \"multicast mode permalink\",\n    \"className\": \"anchor before\"\n  }, mdx(\"svg\", {\n    parentName: \"a\",\n    \"aria-hidden\": \"true\",\n    \"focusable\": \"false\",\n    \"height\": \"16\",\n    \"version\": \"1.1\",\n    \"viewBox\": \"0 0 16 16\",\n    \"width\": \"16\"\n  }, mdx(\"path\", {\n    parentName: \"svg\",\n    \"fillRule\": \"evenodd\",\n    \"d\": \"M4 9h1v1H4c-1.5 0-3-1.69-3-3.5S2.55 3 4 3h4c1.45 0 3 1.69 3 3.5 0 1.41-.91 2.72-2 3.25V8.59c.58-.45 1-1.27 1-2.09C10 5.22 8.98 4 8 4H4c-.98 0-2 1.22-2 2.5S3 9 4 9zm9-3h-1v1h1c1 0 2 1.22 2 2.5S13.98 12 13 12H9c-.98 0-2-1.22-2-2.5 0-.83.42-1.64 1-2.09V6.25c-1.09.53-2 1.84-2 3.25C6 11.31 7.55 13 9 13h4c1.45 0 3-1.69 3-3.5S14.5 6 13 6z\"\n  }))), \"Multicast Mode\"), mdx(\"p\", null, \"In multicast mode you set either an IPv4 or IPv6 multicast address.\\nThen provided your network correctly routes multicast packets it will connect to all other NUClearNet nodes that share the same multicast address.\\nThe default address for this is \", mdx(\"inlineCode\", {\n    parentName: \"p\"\n  }, \"239.226.152.162\")), mdx(\"h4\", {\n    \"id\": \"port\",\n    \"style\": {\n      \"position\": \"relative\"\n    }\n  }, mdx(\"a\", {\n    parentName: \"h4\",\n    \"href\": \"#port\",\n    \"aria-label\": \"port permalink\",\n    \"className\": \"anchor before\"\n  }, mdx(\"svg\", {\n    parentName: \"a\",\n    \"aria-hidden\": \"true\",\n    \"focusable\": \"false\",\n    \"height\": \"16\",\n    \"version\": \"1.1\",\n    \"viewBox\": \"0 0 16 16\",\n    \"width\": \"16\"\n  }, mdx(\"path\", {\n    parentName: \"svg\",\n    \"fillRule\": \"evenodd\",\n    \"d\": \"M4 9h1v1H4c-1.5 0-3-1.69-3-3.5S2.55 3 4 3h4c1.45 0 3 1.69 3 3.5 0 1.41-.91 2.72-2 3.25V8.59c.58-.45 1-1.27 1-2.09C10 5.22 8.98 4 8 4H4c-.98 0-2 1.22-2 2.5S3 9 4 9zm9-3h-1v1h1c1 0 2 1.22 2 2.5S13.98 12 13 12H9c-.98 0-2-1.22-2-2.5 0-.83.42-1.64 1-2.09V6.25c-1.09.53-2 1.84-2 3.25C6 11.31 7.55 13 9 13h4c1.45 0 3-1.69 3-3.5S14.5 6 13 6z\"\n  }))), \"Port\"), mdx(\"p\", null, \"The default port for NUClearNet is 7447.\\nYou can use different ports if you want to make several distinct NUClearNet networks on the same device.\"), mdx(\"h3\", {\n    \"id\": \"consumes-1\",\n    \"style\": {\n      \"position\": \"relative\"\n    }\n  }, mdx(\"a\", {\n    parentName: \"h3\",\n    \"href\": \"#consumes-1\",\n    \"aria-label\": \"consumes 1 permalink\",\n    \"className\": \"anchor before\"\n  }, mdx(\"svg\", {\n    parentName: \"a\",\n    \"aria-hidden\": \"true\",\n    \"focusable\": \"false\",\n    \"height\": \"16\",\n    \"version\": \"1.1\",\n    \"viewBox\": \"0 0 16 16\",\n    \"width\": \"16\"\n  }, mdx(\"path\", {\n    parentName: \"svg\",\n    \"fillRule\": \"evenodd\",\n    \"d\": \"M4 9h1v1H4c-1.5 0-3-1.69-3-3.5S2.55 3 4 3h4c1.45 0 3 1.69 3 3.5 0 1.41-.91 2.72-2 3.25V8.59c.58-.45 1-1.27 1-2.09C10 5.22 8.98 4 8 4H4c-.98 0-2 1.22-2 2.5S3 9 4 9zm9-3h-1v1h1c1 0 2 1.22 2 2.5S13.98 12 13 12H9c-.98 0-2-1.22-2-2.5 0-.83.42-1.64 1-2.09V6.25c-1.09.53-2 1.84-2 3.25C6 11.31 7.55 13 9 13h4c1.45 0 3-1.69 3-3.5S14.5 6 13 6z\"\n  }))), \"Consumes\"), mdx(\"ul\", null, mdx(\"li\", {\n    parentName: \"ul\"\n  }, mdx(\"inlineCode\", {\n    parentName: \"li\"\n  }, \"NUClear::message::NetworkJoin\"), \" Notification when another NUClearNet node joins the network\"), mdx(\"li\", {\n    parentName: \"ul\"\n  }, mdx(\"inlineCode\", {\n    parentName: \"li\"\n  }, \"NUClear::message::NetworkLeave\"), \" Notification when another NUClearNet node leaves the network\")), mdx(\"h3\", {\n    \"id\": \"emits-1\",\n    \"style\": {\n      \"position\": \"relative\"\n    }\n  }, mdx(\"a\", {\n    parentName: \"h3\",\n    \"href\": \"#emits-1\",\n    \"aria-label\": \"emits 1 permalink\",\n    \"className\": \"anchor before\"\n  }, mdx(\"svg\", {\n    parentName: \"a\",\n    \"aria-hidden\": \"true\",\n    \"focusable\": \"false\",\n    \"height\": \"16\",\n    \"version\": \"1.1\",\n    \"viewBox\": \"0 0 16 16\",\n    \"width\": \"16\"\n  }, mdx(\"path\", {\n    parentName: \"svg\",\n    \"fillRule\": \"evenodd\",\n    \"d\": \"M4 9h1v1H4c-1.5 0-3-1.69-3-3.5S2.55 3 4 3h4c1.45 0 3 1.69 3 3.5 0 1.41-.91 2.72-2 3.25V8.59c.58-.45 1-1.27 1-2.09C10 5.22 8.98 4 8 4H4c-.98 0-2 1.22-2 2.5S3 9 4 9zm9-3h-1v1h1c1 0 2 1.22 2 2.5S13.98 12 13 12H9c-.98 0-2-1.22-2-2.5 0-.83.42-1.64 1-2.09V6.25c-1.09.53-2 1.84-2 3.25C6 11.31 7.55 13 9 13h4c1.45 0 3-1.69 3-3.5S14.5 6 13 6z\"\n  }))), \"Emits\"), mdx(\"ul\", null, mdx(\"li\", {\n    parentName: \"ul\"\n  }, mdx(\"inlineCode\", {\n    parentName: \"li\"\n  }, \"NUClear::message::NetworkConfiguration\"), \" Emitted to configure the NUClear networking system with name, address, and port\")), mdx(\"h2\", {\n    \"id\": \"plotjuggler\",\n    \"style\": {\n      \"position\": \"relative\"\n    }\n  }, mdx(\"a\", {\n    parentName: \"h2\",\n    \"href\": \"#plotjuggler\",\n    \"aria-label\": \"plotjuggler permalink\",\n    \"className\": \"anchor before\"\n  }, mdx(\"svg\", {\n    parentName: \"a\",\n    \"aria-hidden\": \"true\",\n    \"focusable\": \"false\",\n    \"height\": \"16\",\n    \"version\": \"1.1\",\n    \"viewBox\": \"0 0 16 16\",\n    \"width\": \"16\"\n  }, mdx(\"path\", {\n    parentName: \"svg\",\n    \"fillRule\": \"evenodd\",\n    \"d\": \"M4 9h1v1H4c-1.5 0-3-1.69-3-3.5S2.55 3 4 3h4c1.45 0 3 1.69 3 3.5 0 1.41-.91 2.72-2 3.25V8.59c.58-.45 1-1.27 1-2.09C10 5.22 8.98 4 8 4H4c-.98 0-2 1.22-2 2.5S3 9 4 9zm9-3h-1v1h1c1 0 2 1.22 2 2.5S13.98 12 13 12H9c-.98 0-2-1.22-2-2.5 0-.83.42-1.64 1-2.09V6.25c-1.09.53-2 1.84-2 3.25C6 11.31 7.55 13 9 13h4c1.45 0 3-1.69 3-3.5S14.5 6 13 6z\"\n  }))), \"PlotJuggler\"), mdx(\"h3\", {\n    \"id\": \"description-1\",\n    \"style\": {\n      \"position\": \"relative\"\n    }\n  }, mdx(\"a\", {\n    parentName: \"h3\",\n    \"href\": \"#description-1\",\n    \"aria-label\": \"description 1 permalink\",\n    \"className\": \"anchor before\"\n  }, mdx(\"svg\", {\n    parentName: \"a\",\n    \"aria-hidden\": \"true\",\n    \"focusable\": \"false\",\n    \"height\": \"16\",\n    \"version\": \"1.1\",\n    \"viewBox\": \"0 0 16 16\",\n    \"width\": \"16\"\n  }, mdx(\"path\", {\n    parentName: \"svg\",\n    \"fillRule\": \"evenodd\",\n    \"d\": \"M4 9h1v1H4c-1.5 0-3-1.69-3-3.5S2.55 3 4 3h4c1.45 0 3 1.69 3 3.5 0 1.41-.91 2.72-2 3.25V8.59c.58-.45 1-1.27 1-2.09C10 5.22 8.98 4 8 4H4c-.98 0-2 1.22-2 2.5S3 9 4 9zm9-3h-1v1h1c1 0 2 1.22 2 2.5S13.98 12 13 12H9c-.98 0-2-1.22-2-2.5 0-.83.42-1.64 1-2.09V6.25c-1.09.53-2 1.84-2 3.25C6 11.31 7.55 13 9 13h4c1.45 0 3-1.69 3-3.5S14.5 6 13 6z\"\n  }))), \"Description\"), mdx(\"p\", null, \"This module allows for sending data from NUbots to \", mdx(\"a\", {\n    parentName: \"p\",\n    \"href\": \"https://github.com/PlotJuggler/PlotJuggler\"\n  }, \"PlotJuggler\"), \" for plotting in real time. It does this by listening for \", mdx(\"inlineCode\", {\n    parentName: \"p\"\n  }, \"DataPoint\"), \" messages (what we use for plotting in NUsight), transforming them to a suitable format and sending them to PlotJuggler via UDP.\"), mdx(\"h3\", {\n    \"id\": \"usage-1\",\n    \"style\": {\n      \"position\": \"relative\"\n    }\n  }, mdx(\"a\", {\n    parentName: \"h3\",\n    \"href\": \"#usage-1\",\n    \"aria-label\": \"usage 1 permalink\",\n    \"className\": \"anchor before\"\n  }, mdx(\"svg\", {\n    parentName: \"a\",\n    \"aria-hidden\": \"true\",\n    \"focusable\": \"false\",\n    \"height\": \"16\",\n    \"version\": \"1.1\",\n    \"viewBox\": \"0 0 16 16\",\n    \"width\": \"16\"\n  }, mdx(\"path\", {\n    parentName: \"svg\",\n    \"fillRule\": \"evenodd\",\n    \"d\": \"M4 9h1v1H4c-1.5 0-3-1.69-3-3.5S2.55 3 4 3h4c1.45 0 3 1.69 3 3.5 0 1.41-.91 2.72-2 3.25V8.59c.58-.45 1-1.27 1-2.09C10 5.22 8.98 4 8 4H4c-.98 0-2 1.22-2 2.5S3 9 4 9zm9-3h-1v1h1c1 0 2 1.22 2 2.5S13.98 12 13 12H9c-.98 0-2-1.22-2-2.5 0-.83.42-1.64 1-2.09V6.25c-1.09.53-2 1.84-2 3.25C6 11.31 7.55 13 9 13h4c1.45 0 3-1.69 3-3.5S14.5 6 13 6z\"\n  }))), \"Usage\"), mdx(\"p\", null, \"To plot data from a role you're working on using PlotJuggler, do the following.\"), mdx(\"ol\", null, mdx(\"li\", {\n    parentName: \"ol\"\n  }, mdx(\"p\", {\n    parentName: \"li\"\n  }, mdx(\"a\", {\n    parentName: \"p\",\n    \"href\": \"https://github.com/facontidavide/PlotJuggler#installation\"\n  }, \"Download and install PlotJuggler\"), \".\")), mdx(\"li\", {\n    parentName: \"ol\"\n  }, mdx(\"p\", {\n    parentName: \"li\"\n  }, \"Launch PlotJuggler and start the UDP server.\"), mdx(\"img\", {\n    parentName: \"li\",\n    \"src\": \"/opt/build/repo/src/book/02-system/05-modules/images/plotjuggler-udp-server.jpg\",\n    \"alt\": \"Screenshot of PlotJuggler showing UDP server details\"\n  }), mdx(\"p\", {\n    parentName: \"li\"\n  }, \"A. Under the \", mdx(\"strong\", {\n    parentName: \"p\"\n  }, \"Streaming\"), \" section at the left of the PlotJuggler UI, select \\\"UDP Server\\\" and click \\\"Start\\\".\"), mdx(\"p\", {\n    parentName: \"li\"\n  }, \"B. In the window that pops up, enter a port, select \\\"JSON\\\" for \", mdx(\"strong\", {\n    parentName: \"p\"\n  }, \"Message Protocol\"), \", and check the box to use the timestamp field if available. Take note of the port and click \\\"OK\\\".\")), mdx(\"li\", {\n    parentName: \"ol\"\n  }, mdx(\"p\", {\n    parentName: \"li\"\n  }, \"Add the \", mdx(\"inlineCode\", {\n    parentName: \"p\"\n  }, \"network::PlotJuggler\"), \" module to the role you're working on.\")), mdx(\"li\", {\n    parentName: \"ol\"\n  }, mdx(\"p\", {\n    parentName: \"li\"\n  }, \"Update the \", mdx(\"inlineCode\", {\n    parentName: \"p\"\n  }, \"PlotJuggler.yaml\"), \" config file.\"), mdx(\"ul\", {\n    parentName: \"li\"\n  }, mdx(\"li\", {\n    parentName: \"ul\"\n  }, \"Set \", mdx(\"inlineCode\", {\n    parentName: \"li\"\n  }, \"forward_datapoints\"), \" to true to enable forwarding of data to PlotJuggler.\"), mdx(\"li\", {\n    parentName: \"ul\"\n  }, \"Under \", mdx(\"inlineCode\", {\n    parentName: \"li\"\n  }, \"udp_server\"), \", set \", mdx(\"inlineCode\", {\n    parentName: \"li\"\n  }, \"ip_address\"), \" and \", mdx(\"inlineCode\", {\n    parentName: \"li\"\n  }, \"port\"), \" to the UDP server details from PlotJuggler. \", mdx(\"inlineCode\", {\n    parentName: \"li\"\n  }, \"ip_address\"), \" should be the address of the computer running PlotJuggler, or \", mdx(\"inlineCode\", {\n    parentName: \"li\"\n  }, \"127.0.0.1\"), \" if you're running PlotJuggler on the same computer as the role binary.\"))), mdx(\"li\", {\n    parentName: \"ol\"\n  }, mdx(\"p\", {\n    parentName: \"li\"\n  }, \"In your role, anywhere you want to plot data:\"), mdx(\"ul\", {\n    parentName: \"li\"\n  }, mdx(\"li\", {\n    parentName: \"ul\"\n  }, mdx(\"p\", {\n    parentName: \"li\"\n  }, \"Include the \", mdx(\"inlineCode\", {\n    parentName: \"p\"\n  }, \"graph()\"), \" helper:\"), mdx(\"pre\", {\n    parentName: \"li\"\n  }, mdx(\"code\", {\n    parentName: \"pre\",\n    \"className\": \"language-cpp\"\n  }, \"// In the includes section\\n#include \\\"utility/nusight/NUhelpers.hpp\\\"\\n\\n// In the module namespace, to use `graph()` without specifying the namespace prefix every time\\nusing utility::nusight::graph;\\n\"))), mdx(\"li\", {\n    parentName: \"ul\"\n  }, mdx(\"p\", {\n    parentName: \"li\"\n  }, \"Call \", mdx(\"inlineCode\", {\n    parentName: \"p\"\n  }, \"graph()\"), \" with the label and values you want to plot, and \", mdx(\"inlineCode\", {\n    parentName: \"p\"\n  }, \"emit()\"), \" the result:\"), mdx(\"pre\", {\n    parentName: \"li\"\n  }, mdx(\"code\", {\n    parentName: \"pre\",\n    \"className\": \"language-cpp\"\n  }, \"// Plotting a single value\\nemit(graph(\\\"Distance to ball\\\", distance_to_ball));\\n\\n// 2-4 values will be labelled \\\"x\\\", \\\"y\\\", \\\"z\\\", \\\"w\\\" automatically\\nemit(graph(\\\"Gyro\\\", my_gyro_data.x(), my_gyro_data.y(), my_gyro_data.z()));\\n\\n// 5 or more values will be labelled \\\"s0\\\", \\\"s1\\\", \\\"s2\\\", ..., \\\"s[n-1]\\\" automatically\\nemit(graph(\\\"My data\\\", s0, s1, s2, s3, s4));\\n\"))))), mdx(\"li\", {\n    parentName: \"ol\"\n  }, mdx(\"p\", {\n    parentName: \"li\"\n  }, \"Build and run your role\")), mdx(\"li\", {\n    parentName: \"ol\"\n  }, mdx(\"p\", {\n    parentName: \"li\"\n  }, \"Data should start appearing in the PlotJuggler sidebar when the role is running. To plot a data point, drag its label from the sidebar to the graph space at the right.\"))), mdx(\"blockquote\", null, mdx(\"p\", {\n    parentName: \"blockquote\"\n  }, mdx(\"strong\", {\n    parentName: \"p\"\n  }, \"Note\"), \"\\nIf you're not seeing data in PlotJuggler, double check that the UDP server is running, \", mdx(\"inlineCode\", {\n    parentName: \"p\"\n  }, \"PlotJuggler.yaml\"), \" has the right configuration, and your role is sending data. You can also set the \", mdx(\"inlineCode\", {\n    parentName: \"p\"\n  }, \"send_debug_waves\"), \" config option to \", mdx(\"inlineCode\", {\n    parentName: \"p\"\n  }, \"true\"), \" to send sample data to PlotJuggler to test the connection.\")), mdx(\"h3\", {\n    \"id\": \"consumes-2\",\n    \"style\": {\n      \"position\": \"relative\"\n    }\n  }, mdx(\"a\", {\n    parentName: \"h3\",\n    \"href\": \"#consumes-2\",\n    \"aria-label\": \"consumes 2 permalink\",\n    \"className\": \"anchor before\"\n  }, mdx(\"svg\", {\n    parentName: \"a\",\n    \"aria-hidden\": \"true\",\n    \"focusable\": \"false\",\n    \"height\": \"16\",\n    \"version\": \"1.1\",\n    \"viewBox\": \"0 0 16 16\",\n    \"width\": \"16\"\n  }, mdx(\"path\", {\n    parentName: \"svg\",\n    \"fillRule\": \"evenodd\",\n    \"d\": \"M4 9h1v1H4c-1.5 0-3-1.69-3-3.5S2.55 3 4 3h4c1.45 0 3 1.69 3 3.5 0 1.41-.91 2.72-2 3.25V8.59c.58-.45 1-1.27 1-2.09C10 5.22 8.98 4 8 4H4c-.98 0-2 1.22-2 2.5S3 9 4 9zm9-3h-1v1h1c1 0 2 1.22 2 2.5S13.98 12 13 12H9c-.98 0-2-1.22-2-2.5 0-.83.42-1.64 1-2.09V6.25c-1.09.53-2 1.84-2 3.25C6 11.31 7.55 13 9 13h4c1.45 0 3-1.69 3-3.5S14.5 6 13 6z\"\n  }))), \"Consumes\"), mdx(\"ul\", null, mdx(\"li\", {\n    parentName: \"ul\"\n  }, mdx(\"inlineCode\", {\n    parentName: \"li\"\n  }, \"message::eye::DataPoint\"), \" - listens for these from the rest of the codebase, transforming and forwarding them to PlotJuggler\")), mdx(\"h3\", {\n    \"id\": \"emits-2\",\n    \"style\": {\n      \"position\": \"relative\"\n    }\n  }, mdx(\"a\", {\n    parentName: \"h3\",\n    \"href\": \"#emits-2\",\n    \"aria-label\": \"emits 2 permalink\",\n    \"className\": \"anchor before\"\n  }, mdx(\"svg\", {\n    parentName: \"a\",\n    \"aria-hidden\": \"true\",\n    \"focusable\": \"false\",\n    \"height\": \"16\",\n    \"version\": \"1.1\",\n    \"viewBox\": \"0 0 16 16\",\n    \"width\": \"16\"\n  }, mdx(\"path\", {\n    parentName: \"svg\",\n    \"fillRule\": \"evenodd\",\n    \"d\": \"M4 9h1v1H4c-1.5 0-3-1.69-3-3.5S2.55 3 4 3h4c1.45 0 3 1.69 3 3.5 0 1.41-.91 2.72-2 3.25V8.59c.58-.45 1-1.27 1-2.09C10 5.22 8.98 4 8 4H4c-.98 0-2 1.22-2 2.5S3 9 4 9zm9-3h-1v1h1c1 0 2 1.22 2 2.5S13.98 12 13 12H9c-.98 0-2-1.22-2-2.5 0-.83.42-1.64 1-2.09V6.25c-1.09.53-2 1.84-2 3.25C6 11.31 7.55 13 9 13h4c1.45 0 3-1.69 3-3.5S14.5 6 13 6z\"\n  }))), \"Emits\"), mdx(\"ul\", null, mdx(\"li\", {\n    parentName: \"ul\"\n  }, mdx(\"inlineCode\", {\n    parentName: \"li\"\n  }, \"message::eye::DataPoint\"), \" - when debug waves are enabled for testing the connection to PlotJuggler\"), mdx(\"li\", {\n    parentName: \"ul\"\n  }, \"JSON-formatted packets to PlotJuggler via UDP\")), mdx(\"h3\", {\n    \"id\": \"dependencies-1\",\n    \"style\": {\n      \"position\": \"relative\"\n    }\n  }, mdx(\"a\", {\n    parentName: \"h3\",\n    \"href\": \"#dependencies-1\",\n    \"aria-label\": \"dependencies 1 permalink\",\n    \"className\": \"anchor before\"\n  }, mdx(\"svg\", {\n    parentName: \"a\",\n    \"aria-hidden\": \"true\",\n    \"focusable\": \"false\",\n    \"height\": \"16\",\n    \"version\": \"1.1\",\n    \"viewBox\": \"0 0 16 16\",\n    \"width\": \"16\"\n  }, mdx(\"path\", {\n    parentName: \"svg\",\n    \"fillRule\": \"evenodd\",\n    \"d\": \"M4 9h1v1H4c-1.5 0-3-1.69-3-3.5S2.55 3 4 3h4c1.45 0 3 1.69 3 3.5 0 1.41-.91 2.72-2 3.25V8.59c.58-.45 1-1.27 1-2.09C10 5.22 8.98 4 8 4H4c-.98 0-2 1.22-2 2.5S3 9 4 9zm9-3h-1v1h1c1 0 2 1.22 2 2.5S13.98 12 13 12H9c-.98 0-2-1.22-2-2.5 0-.83.42-1.64 1-2.09V6.25c-1.09.53-2 1.84-2 3.25C6 11.31 7.55 13 9 13h4c1.45 0 3-1.69 3-3.5S14.5 6 13 6z\"\n  }))), \"Dependencies\"), mdx(\"ul\", null, mdx(\"li\", {\n    parentName: \"ul\"\n  }, \"JSON for modern C++ library\")), mdx(\"h2\", {\n    \"id\": \"robotcommunication\",\n    \"style\": {\n      \"position\": \"relative\"\n    }\n  }, mdx(\"a\", {\n    parentName: \"h2\",\n    \"href\": \"#robotcommunication\",\n    \"aria-label\": \"robotcommunication permalink\",\n    \"className\": \"anchor before\"\n  }, mdx(\"svg\", {\n    parentName: \"a\",\n    \"aria-hidden\": \"true\",\n    \"focusable\": \"false\",\n    \"height\": \"16\",\n    \"version\": \"1.1\",\n    \"viewBox\": \"0 0 16 16\",\n    \"width\": \"16\"\n  }, mdx(\"path\", {\n    parentName: \"svg\",\n    \"fillRule\": \"evenodd\",\n    \"d\": \"M4 9h1v1H4c-1.5 0-3-1.69-3-3.5S2.55 3 4 3h4c1.45 0 3 1.69 3 3.5 0 1.41-.91 2.72-2 3.25V8.59c.58-.45 1-1.27 1-2.09C10 5.22 8.98 4 8 4H4c-.98 0-2 1.22-2 2.5S3 9 4 9zm9-3h-1v1h1c1 0 2 1.22 2 2.5S13.98 12 13 12H9c-.98 0-2-1.22-2-2.5 0-.83.42-1.64 1-2.09V6.25c-1.09.53-2 1.84-2 3.25C6 11.31 7.55 13 9 13h4c1.45 0 3-1.69 3-3.5S14.5 6 13 6z\"\n  }))), \"RobotCommunication\"), mdx(\"h3\", {\n    \"id\": \"description-2\",\n    \"style\": {\n      \"position\": \"relative\"\n    }\n  }, mdx(\"a\", {\n    parentName: \"h3\",\n    \"href\": \"#description-2\",\n    \"aria-label\": \"description 2 permalink\",\n    \"className\": \"anchor before\"\n  }, mdx(\"svg\", {\n    parentName: \"a\",\n    \"aria-hidden\": \"true\",\n    \"focusable\": \"false\",\n    \"height\": \"16\",\n    \"version\": \"1.1\",\n    \"viewBox\": \"0 0 16 16\",\n    \"width\": \"16\"\n  }, mdx(\"path\", {\n    parentName: \"svg\",\n    \"fillRule\": \"evenodd\",\n    \"d\": \"M4 9h1v1H4c-1.5 0-3-1.69-3-3.5S2.55 3 4 3h4c1.45 0 3 1.69 3 3.5 0 1.41-.91 2.72-2 3.25V8.59c.58-.45 1-1.27 1-2.09C10 5.22 8.98 4 8 4H4c-.98 0-2 1.22-2 2.5S3 9 4 9zm9-3h-1v1h1c1 0 2 1.22 2 2.5S13.98 12 13 12H9c-.98 0-2-1.22-2-2.5 0-.83.42-1.64 1-2.09V6.25c-1.09.53-2 1.84-2 3.25C6 11.31 7.55 13 9 13h4c1.45 0 3-1.69 3-3.5S14.5 6 13 6z\"\n  }))), \"Description\"), mdx(\"p\", null, \"This module adds a communication schema that conforms to the official\\nrobocup spec. It allows the robots to use this schema for internal communication.\"), mdx(\"p\", null, \"The Robocup message is created, and emitted to other robots over UDP. 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