This repository contains the RoboGrams message passing architecture source and an example program that can be used as a test.
RoboGrams provides the core classes for creating a modular code base where each system is a module and data exchange is accomplished by passing messages between modules. Message passing is implemented extremely efficiently using reference counting and pre-allocated pools of message classes. RoboGrams was designed specifically for use in RoboCup soccer and is thus suitable for real-time applications.
For information on compiling and using RoboGrams, see this repository's wiki.