diff --git a/go.mod b/go.mod
index 52d8423..7f4ef3d 100644
--- a/go.mod
+++ b/go.mod
@@ -3,10 +3,10 @@ module github.com/cyrilix/robocar-led
 go 1.13
 
 require (
-	github.com/cyrilix/robocar-base v0.0.0-20200101163959-0a3e47f0016b
-	github.com/cyrilix/robocar-protobuf/go v0.0.0-20200101000356-accf7184079a
+	github.com/cyrilix/robocar-base v0.1.0
+	github.com/cyrilix/robocar-protobuf/go v1.0.0
 	github.com/eclipse/paho.mqtt.golang v1.2.0
-	github.com/golang/protobuf v1.3.2
+	github.com/golang/protobuf v1.3.4
 	github.com/konsorten/go-windows-terminal-sequences v1.0.2 // indirect
 	github.com/sirupsen/logrus v1.4.2
 	golang.org/x/net v0.0.0-20191209160850-c0dbc17a3553 // indirect
diff --git a/go.sum b/go.sum
index 5375fa7..70f8a06 100644
--- a/go.sum
+++ b/go.sum
@@ -5,10 +5,11 @@ github.com/Microsoft/hcsshim v0.8.6/go.mod h1:Op3hHsoHPAvb6lceZHDtd9OkTew38wNoXn
 github.com/cenkalti/backoff v2.2.1+incompatible/go.mod h1:90ReRw6GdpyfrHakVjL/QHaoyV4aDUVVkXQJJJ3NXXM=
 github.com/client9/misspell v0.3.4/go.mod h1:qj6jICC3Q7zFZvVWo7KLAzC3yx5G7kyvSDkc90ppPyw=
 github.com/containerd/continuity v0.0.0-20190426062206-aaeac12a7ffc/go.mod h1:GL3xCUCBDV3CZiTSEKksMWbLE66hEyuu9qyDOOqM47Y=
-github.com/cyrilix/robocar-base v0.0.0-20200101163959-0a3e47f0016b h1:kDor8xsF7goCk+PVqbgTmJXCSEfzO8BjACmUuPkxsYU=
-github.com/cyrilix/robocar-base v0.0.0-20200101163959-0a3e47f0016b/go.mod h1:jRQ+lJAHKkdcjwS5vt2t5LX2zM+bxX+gKffixkc2lbA=
-github.com/cyrilix/robocar-protobuf/go v0.0.0-20200101000356-accf7184079a h1:IkvehlOZuaxE6T62Kdr1iYjMmcllUOPi/ZQhMhzp844=
-github.com/cyrilix/robocar-protobuf/go v0.0.0-20200101000356-accf7184079a/go.mod h1:I+i6Ujns+4DmRmmUej56MItlmT4K2zlMZ35vZrHEfQ4=
+github.com/cyrilix/robocar-base v0.1.0 h1:WCx16VxGd7iTS2WdDHdY7p9k5inviZF96vgkEQruql8=
+github.com/cyrilix/robocar-base v0.1.0/go.mod h1:U6tjaylQtSC5C1NzeZnfKhc2v7mF7BSuCgdJ7/nJ3IA=
+github.com/cyrilix/robocar-protobuf/go v1.0.0 h1:kPsmmYakcIWd/Y73YDufbdILJUna0tJcteKKWlNfVFY=
+github.com/cyrilix/robocar-protobuf/go v1.0.0/go.mod h1:I+i6Ujns+4DmRmmUej56MItlmT4K2zlMZ35vZrHEfQ4=
+github.com/davecgh/go-spew v1.1.0/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
 github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
 github.com/docker/distribution v2.7.1-0.20190205005809-0d3efadf0154+incompatible/go.mod h1:J2gT2udsDAN96Uj4KfcMRqY0/ypR+oyYUYmja8H+y+w=
 github.com/docker/docker v0.7.3-0.20190506211059-b20a14b54661/go.mod h1:eEKB0N0r5NX/I1kEveEz05bcu8tLC/8azJZsviup8Sk=
@@ -16,17 +17,25 @@ github.com/docker/go-connections v0.4.0/go.mod h1:Gbd7IOopHjR8Iph03tsViu4nIes5Xh
 github.com/docker/go-units v0.3.3/go.mod h1:fgPhTUdO+D/Jk86RDLlptpiXQzgHJF7gydDDbaIK4Dk=
 github.com/eclipse/paho.mqtt.golang v1.2.0/go.mod h1:H9keYFcgq3Qr5OUJm/JZI/i6U7joQ8SYLhZwfeOo6Ts=
 github.com/fsnotify/fsnotify v1.4.7/go.mod h1:jwhsz4b93w/PPRr/qN1Yymfu8t87LnFCMoQvtojpjFo=
-github.com/go-redis/redis v6.15.6+incompatible/go.mod h1:NAIEuMOZ/fxfXJIrKDQDz8wamY7mA7PouImQ2Jvg6kA=
-github.com/go-sql-driver/mysql v1.4.1/go.mod h1:zAC/RDZ24gD3HViQzih4MyKcchzm+sOG5ZlKdlhCg5w=
+github.com/gin-contrib/sse v0.1.0/go.mod h1:RHrZQHXnP2xjPF+u1gW/2HnVO7nvIa9PG3Gm+fLHvGI=
+github.com/gin-gonic/gin v1.5.0/go.mod h1:Nd6IXA8m5kNZdNEHMBd93KT+mdY3+bewLgRvmCsR2Do=
+github.com/go-playground/locales v0.12.1/go.mod h1:IUMDtCfWo/w/mtMfIE/IG2K+Ey3ygWanZIBtBW0W2TM=
+github.com/go-playground/universal-translator v0.16.0/go.mod h1:1AnU7NaIRDWWzGEKwgtJRd2xk99HeFyHw3yid4rvQIY=
+github.com/go-redis/redis v6.15.7+incompatible/go.mod h1:NAIEuMOZ/fxfXJIrKDQDz8wamY7mA7PouImQ2Jvg6kA=
+github.com/go-sql-driver/mysql v1.5.0/go.mod h1:DCzpHaOWr8IXmIStZouvnhqoel9Qv2LBy8hT2VhHyBg=
 github.com/gogo/protobuf v1.2.0/go.mod h1:r8qH/GZQm5c6nD/R0oafs1akxWv10x8SbQlK7atdtwQ=
 github.com/golang/glog v0.0.0-20160126235308-23def4e6c14b/go.mod h1:SBH7ygxi8pfUlaOkMMuAQtPIUF8ecWP5IEl/CR7VP2Q=
 github.com/golang/mock v1.1.1/go.mod h1:oTYuIxOrZwtPieC+H1uAHpcLFnEyAGVDL/k47Jfbm0A=
 github.com/golang/protobuf v1.2.0/go.mod h1:6lQm79b+lXiMfvg/cZm0SGofjICqVBUtrP5yJMmIC1U=
 github.com/golang/protobuf v1.3.2/go.mod h1:6lQm79b+lXiMfvg/cZm0SGofjICqVBUtrP5yJMmIC1U=
+github.com/golang/protobuf v1.3.4 h1:87PNWwrRvUSnqS4dlcBU/ftvOIBep4sYuBLlh6rX2wk=
+github.com/golang/protobuf v1.3.4/go.mod h1:vzj43D7+SQXF/4pzW/hwtAqwc6iTitCiVSaWz5lYuqw=
 github.com/google/go-cmp v0.2.0/go.mod h1:oXzfMopK8JAjlY9xF4vHSVASa0yLyX7SntLO5aqRK0M=
+github.com/google/gofuzz v1.0.0/go.mod h1:dBl0BpW6vV/+mYPU4Po3pmUjxk6FQPldtuIdl/M65Eg=
 github.com/gorilla/context v1.1.1/go.mod h1:kBGZzfjB9CEq2AlWe17Uuf7NDRt0dE0s8S51q0aT7Yg=
 github.com/gorilla/mux v1.6.2/go.mod h1:1lud6UwP+6orDFRuTfBEV8e9/aOM/c4fVVCaMa2zaAs=
 github.com/hpcloud/tail v1.0.0/go.mod h1:ab1qPbhIpdTxEkNHXyeSf5vhxWSCs/tWer42PpOxQnU=
+github.com/json-iterator/go v1.1.7/go.mod h1:KdQUCv79m/52Kvf8AW2vK1V8akMuk1QjK/uOdHXbAo4=
 github.com/kisielk/gotool v1.0.0/go.mod h1:XhKaO+MFFWcvkIS/tQcRk01m1F5IRFswLeQ+oQHNcck=
 github.com/konsorten/go-windows-terminal-sequences v1.0.1/go.mod h1:T0+1ngSBFLxvqU3pZ+m/2kptfBszLMUkC4ZK/EgS/cQ=
 github.com/konsorten/go-windows-terminal-sequences v1.0.2 h1:DB17ag19krx9CFsz4o3enTrPXyIXCl+2iCXH/aMAp9s=
@@ -34,6 +43,10 @@ github.com/konsorten/go-windows-terminal-sequences v1.0.2/go.mod h1:T0+1ngSBFLxv
 github.com/kr/pretty v0.1.0/go.mod h1:dAy3ld7l9f0ibDNOQOHHMYYIIbhfbHSm3C4ZsoJORNo=
 github.com/kr/pty v1.1.1/go.mod h1:pFQYn66WHrOpPYNljwOMqo10TkYh1fy3cYio2l3bCsQ=
 github.com/kr/text v0.1.0/go.mod h1:4Jbv+DJW3UT/LiOwJeYQe1efqtUx/iVham/4vfdArNI=
+github.com/leodido/go-urn v1.1.0/go.mod h1:+cyI34gQWZcE1eQU7NVgKkkzdXDQHr1dBMtdAPozLkw=
+github.com/mattn/go-isatty v0.0.9/go.mod h1:YNRxwqDuOph6SZLI9vUUz6OYw3QyUt7WiY2yME+cCiQ=
+github.com/modern-go/concurrent v0.0.0-20180228061459-e0a39a4cb421/go.mod h1:6dJC0mAP4ikYIbvyc7fijjWJddQyLn8Ig3JB5CqoB9Q=
+github.com/modern-go/reflect2 v0.0.0-20180701023420-4b7aa43c6742/go.mod h1:bx2lNnkwVCuqBIxFjflWJWanXIb3RllmbCylyMrvgv0=
 github.com/morikuni/aec v0.0.0-20170113033406-39771216ff4c/go.mod h1:BbKIizmSmc5MMPqRYbxO4ZU0S0+P200+tUnFx7PXmsc=
 github.com/onsi/ginkgo v1.6.0/go.mod h1:lLunBs/Ym6LB5Z9jYTR76FiuTmxDTDusOGeTQH+WWjE=
 github.com/onsi/ginkgo v1.8.0/go.mod h1:lLunBs/Ym6LB5Z9jYTR76FiuTmxDTDusOGeTQH+WWjE=
@@ -42,30 +55,34 @@ github.com/opencontainers/go-digest v1.0.0-rc1/go.mod h1:cMLVZDEM3+U2I4VmLI6N8jQ
 github.com/opencontainers/image-spec v1.0.1/go.mod h1:BtxoFyWECRxE4U/7sNtV5W15zMzWCbyJoFRP3s7yZA0=
 github.com/opencontainers/runc v0.1.1/go.mod h1:qT5XzbpPznkRYVz/mWwUaVBUv2rmF59PVA73FjuZG0U=
 github.com/pkg/errors v0.8.0/go.mod h1:bwawxfHBFNV+L2hUp1rHADufV3IMtnDRdf1r5NINEl0=
-github.com/pkg/errors v0.8.1/go.mod h1:bwawxfHBFNV+L2hUp1rHADufV3IMtnDRdf1r5NINEl0=
+github.com/pkg/errors v0.9.1/go.mod h1:bwawxfHBFNV+L2hUp1rHADufV3IMtnDRdf1r5NINEl0=
 github.com/pmezard/go-difflib v1.0.0/go.mod h1:iKH77koFhYxTK1pcRnkKkqfTogsbg7gZNVY4sRDYZ/4=
 github.com/satori/go.uuid v1.2.0/go.mod h1:dA0hQrYB0VpLJoorglMZABFdXlWrHn1NEOzdhQKdks0=
 github.com/sirupsen/logrus v1.2.0/go.mod h1:LxeOpSwHxABJmUn/MG1IvRgCAasNZTLOkJPxbbu5VWo=
 github.com/sirupsen/logrus v1.4.2/go.mod h1:tLMulIdttU9McNUspp0xgXVQah82FyeX6MwdIuYE2rE=
 github.com/spf13/pflag v1.0.3/go.mod h1:DYY7MBk1bdzusC3SYhjObp+wFpr4gzcvqqNjLnInEg4=
+github.com/stretchr/objx v0.1.0/go.mod h1:HFkY916IF+rwdDfMAkV7OtwuqBVzrE8GR6GFx+wExME=
 github.com/stretchr/objx v0.1.1/go.mod h1:HFkY916IF+rwdDfMAkV7OtwuqBVzrE8GR6GFx+wExME=
 github.com/stretchr/testify v1.2.2/go.mod h1:a8OnRcib4nhh0OaRAV+Yts87kKdq0PP7pXfy6kDkUVs=
-github.com/testcontainers/testcontainers-go v0.0.9/go.mod h1:0Qe9qqjNZgxHzzdHPWwmQ2D49FFO7920hLdJ4yUJXJI=
+github.com/stretchr/testify v1.3.0/go.mod h1:M5WIy9Dh21IEIfnGCwXGc5bZfKNJtfHm1UVUgZn+9EI=
+github.com/stretchr/testify v1.4.0/go.mod h1:j7eGeouHqKxXV5pUuKE4zz7dFj8WfuZ+81PSLYec5m4=
+github.com/testcontainers/testcontainers-go v0.3.0/go.mod h1:br7bkzIukhPSIjy07Ma3OuXjjFvl2jm7CDU0LQNsqLw=
+github.com/ugorji/go v1.1.7/go.mod h1:kZn38zHttfInRq0xu/PH0az30d+z6vm202qpg1oXVMw=
+github.com/ugorji/go/codec v1.1.7/go.mod h1:Ax+UKWsSmolVDwsd+7N3ZtXu+yMGCf907BLYF3GoBXY=
 golang.org/x/crypto v0.0.0-20180904163835-0709b304e793/go.mod h1:6SG95UA2DQfeDnfUPMdvaQW0Q7yPrPDi9nlGo2tz2b4=
 golang.org/x/crypto v0.0.0-20190308221718-c2843e01d9a2/go.mod h1:djNgcEr1/C05ACkg1iLfiJU5Ep61QUkGW8qpdssI0+w=
 golang.org/x/lint v0.0.0-20181026193005-c67002cb31c3/go.mod h1:UVdnD1Gm6xHRNCYTkRU2/jEulfH38KcIWyp/GAMgvoE=
 golang.org/x/net v0.0.0-20180826012351-8a410e7b638d/go.mod h1:mL1N/T3taQHkDXs73rZJwtUhF3w3ftmwwsq0BUmARs4=
 golang.org/x/net v0.0.0-20180906233101-161cd47e91fd/go.mod h1:mL1N/T3taQHkDXs73rZJwtUhF3w3ftmwwsq0BUmARs4=
-golang.org/x/net v0.0.0-20191126235420-ef20fe5d7933/go.mod h1:z5CRVTTTmAJ677TzLLGU+0bjPO0LkuOLi4/5GtJWs/s=
 golang.org/x/net v0.0.0-20191209160850-c0dbc17a3553/go.mod h1:z5CRVTTTmAJ677TzLLGU+0bjPO0LkuOLi4/5GtJWs/s=
 golang.org/x/oauth2 v0.0.0-20180821212333-d2e6202438be/go.mod h1:N/0e6XlmueqKjAGxoOufVs8QHGRruUQn6yWY3a++T0U=
 golang.org/x/sync v0.0.0-20180314180146-1d60e4601c6f/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
 golang.org/x/sys v0.0.0-20180830151530-49385e6e1522/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
 golang.org/x/sys v0.0.0-20180905080454-ebe1bf3edb33/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
 golang.org/x/sys v0.0.0-20180909124046-d0be0721c37e/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
-golang.org/x/sys v0.0.0-20181228144115-9a3f9b0469bb/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
 golang.org/x/sys v0.0.0-20190215142949-d0b11bdaac8a/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
 golang.org/x/sys v0.0.0-20190422165155-953cdadca894/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
+golang.org/x/sys v0.0.0-20190813064441-fde4db37ae7a/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
 golang.org/x/sys v0.0.0-20191228213918-04cbcbbfeed8 h1:JA8d3MPx/IToSyXZG/RhwYEtfrKO1Fxrqe8KrkiLXKM=
 golang.org/x/sys v0.0.0-20191228213918-04cbcbbfeed8/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
 golang.org/x/text v0.3.0/go.mod h1:NqM8EUOU14njkJ3fqMW+pc6Ldnwhi/IjpwHt7yyuwOQ=
@@ -78,8 +95,11 @@ google.golang.org/grpc v1.17.0/go.mod h1:6QZJwpn2B+Zp71q/5VxRsJ6NXXVCE5NRUHRo+f3
 gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0=
 gopkg.in/check.v1 v1.0.0-20180628173108-788fd7840127/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0=
 gopkg.in/fsnotify.v1 v1.4.7/go.mod h1:Tz8NjZHkW78fSQdbUxIjBTcgA1z1m8ZHf0WmKUhAMys=
+gopkg.in/go-playground/assert.v1 v1.2.1/go.mod h1:9RXL0bg/zibRAgZUYszZSwO/z8Y/a8bDuhia5mkpMnE=
+gopkg.in/go-playground/validator.v9 v9.29.1/go.mod h1:+c9/zcJMFNgbLvly1L1V+PpxWdVbfP1avr/N00E2vyQ=
 gopkg.in/tomb.v1 v1.0.0-20141024135613-dd632973f1e7/go.mod h1:dt/ZhP58zS4L8KSrWDmTeBkI65Dw0HsyUHuEVlX15mw=
 gopkg.in/yaml.v2 v2.2.1/go.mod h1:hI93XBmqTisBFMUTm0b8Fm+jr3Dg1NNxqwp+5A1VGuI=
+gopkg.in/yaml.v2 v2.2.2/go.mod h1:hI93XBmqTisBFMUTm0b8Fm+jr3Dg1NNxqwp+5A1VGuI=
 gotest.tools v0.0.0-20181223230014-1083505acf35/go.mod h1:R//lfYlUuTOTfblYI3lGoAAAebUdzjvbmQsuB7Ykd90=
 honnef.co/go/tools v0.0.0-20180728063816-88497007e858/go.mod h1:rf3lG4BRIbNafJWhAfAdb/ePZxsR/4RtNHQocxwk9r4=
 periph.io/x/periph v3.6.2+incompatible/go.mod h1:EWr+FCIU2dBWz5/wSWeiIUJTriYv9v2j2ENBmgYyy7Y=
diff --git a/led/led.go b/led/led.go
index f797694..6085127 100644
--- a/led/led.go
+++ b/led/led.go
@@ -1,7 +1,7 @@
 package led
 
 import (
-	"log"
+	log "github.com/sirupsen/logrus"
 	"periph.io/x/periph/conn/gpio"
 	"periph.io/x/periph/host"
 	"periph.io/x/periph/host/bcm283x"
@@ -111,7 +111,7 @@ func (l *PiColorLed) blink(freq float64) {
 			green = tmpG
 			blue = tmpB
 		}
-
+		log.Infof("factor: %v", factor)
 		l.SetRed(red * factor)
 		l.SetGreen(green * factor)
 		l.SetBlue(blue * factor)
@@ -133,7 +133,7 @@ var setLed = func(v int, led gpio.PinIO, mutex *sync.Mutex) {
 	}
 	err := led.Out(lvl)
 	if err != nil {
-		log.Printf("unable to sed pin to %v: %v", lvl, err)
+		log.Errorf("unable to sed pin to %v: %v", lvl, err)
 	}
 }
 
diff --git a/part/part_test.go b/part/part_test.go
index 9fa5818..3c0a9a8 100644
--- a/part/part_test.go
+++ b/part/part_test.go
@@ -1,10 +1,10 @@
 package part
 
 import (
-	"github.com/cyrilix/robocar-base/mqttdevice"
 	"github.com/cyrilix/robocar-base/testtools"
 	"github.com/cyrilix/robocar-protobuf/go/events"
 	mqtt "github.com/eclipse/paho.mqtt.golang"
+	"github.com/golang/protobuf/proto"
 	"testing"
 	"time"
 )
@@ -50,25 +50,22 @@ func TestLedPart_OnDriveMode(t *testing.T) {
 	for _, c := range cases {
 		p.onDriveMode(nil, c.msg)
 		time.Sleep(1 * time.Millisecond)
+		var msg events.DriveModeMessage
+		err := proto.Unmarshal(c.msg.Payload(), &msg)
+		if err != nil {
+			t.Errorf("unable to unmarshal drive mode message: %v", err)
+		}
+		value := msg.DriveMode
 		if led.red != c.red {
-			payload := mqttdevice.NewMqttValue(c.msg.Payload())
-			value, err := payload.IntValue()
-			if err != nil {
-				t.Errorf("payload isn't a led value: %v", err)
-			}
 			t.Errorf("driveMode(%v)=invalid value for red channel: %v, wants %v", value, led.red, c.red)
 		}
 		if led.green != c.green {
-			payload := mqttdevice.NewMqttValue(c.msg.Payload())
-			value, err := payload.IntValue()
 			if err != nil {
 				t.Errorf("payload isn't a led value: %v", err)
 			}
 			t.Errorf("driveMode(%v)=invalid value for green channel: %v, wants %v", value, led.green, c.green)
 		}
 		if led.blue != c.blue {
-			payload := mqttdevice.NewMqttValue(c.msg.Payload())
-			value, err := payload.IntValue()
 			if err != nil {
 				t.Errorf("payload isn't a led value: %v", err)
 			}
@@ -94,11 +91,13 @@ func TestLedPart_OnRecord(t *testing.T) {
 	for _, c := range cases {
 		p.onRecord(nil, c.msg)
 		if led.blink != c.blink {
-			payload := mqttdevice.NewMqttValue(c.msg.Payload())
-			value, err := payload.BoolValue()
+			var msg events.SwitchRecordMessage
+			err := proto.Unmarshal(c.msg.Payload(), &msg)
 			if err != nil {
-				t.Errorf("payload isn't a bool value: %v", err)
+				t.Errorf("unable to unmarshal %T message: %v", msg, err)
 			}
+
+			value := msg.Enabled
 			t.Errorf("onRecord(%v): %v, wants %v", value, c.record, led.blink)
 		}
 	}
diff --git a/vendor/github.com/cyrilix/robocar-base/cli/cli.go b/vendor/github.com/cyrilix/robocar-base/cli/cli.go
index f0c6a7c..7824862 100644
--- a/vendor/github.com/cyrilix/robocar-base/cli/cli.go
+++ b/vendor/github.com/cyrilix/robocar-base/cli/cli.go
@@ -2,7 +2,7 @@ package cli
 
 import (
 	"flag"
-	"github.com/cyrilix/robocar-base/mqttdevice"
+	"fmt"
 	"github.com/cyrilix/robocar-base/service"
 	MQTT "github.com/eclipse/paho.mqtt.golang"
 	"log"
@@ -61,16 +61,20 @@ func HandleExit(p service.Part) {
 	}()
 }
 
-func InitMqttFlags(defaultClientId string, mqttBroker, username, password, clientId *string, mqttQos *int, mqttRetain *bool) {
+func InitMqttFlagSet(flagSet *flag.FlagSet, defaultClientId string, mqttBroker, username, password, clientId *string, mqttQos *int, mqttRetain *bool) {
 	SetDefaultValueFromEnv(clientId, "MQTT_CLIENT_ID", defaultClientId)
 	SetDefaultValueFromEnv(mqttBroker, "MQTT_BROKER", "tcp://127.0.0.1:1883")
 
-	flag.StringVar(mqttBroker, "mqtt-broker", *mqttBroker, "Broker Uri, use MQTT_BROKER env if arg not set")
-	flag.StringVar(username, "mqtt-username", os.Getenv("MQTT_USERNAME"), "Broker Username, use MQTT_USERNAME env if arg not set")
-	flag.StringVar(password, "mqtt-password", os.Getenv("MQTT_PASSWORD"), "Broker Password, MQTT_PASSWORD env if args not set")
-	flag.StringVar(clientId, "mqtt-client-id", *clientId, "Mqtt client id, use MQTT_CLIENT_ID env if args not set")
-	flag.IntVar(mqttQos, "mqtt-qos", *mqttQos, "Qos to pusblish message, use MQTT_QOS env if arg not set")
-	flag.BoolVar(mqttRetain, "mqtt-retain", *mqttRetain, "Retain mqtt message, if not set, true if MQTT_RETAIN env variable is set")
+	flagSet.StringVar(mqttBroker, "mqtt-broker", *mqttBroker, "Broker Uri, use MQTT_BROKER env if arg not set")
+	flagSet.StringVar(username, "mqtt-username", os.Getenv("MQTT_USERNAME"), "Broker Username, use MQTT_USERNAME env if arg not set")
+	flagSet.StringVar(password, "mqtt-password", os.Getenv("MQTT_PASSWORD"), "Broker Password, MQTT_PASSWORD env if args not set")
+	flagSet.StringVar(clientId, "mqtt-client-id", *clientId, "Mqtt client id, use MQTT_CLIENT_ID env if args not set")
+	flagSet.IntVar(mqttQos, "mqtt-qos", *mqttQos, "Qos to pusblish message, use MQTT_QOS env if arg not set")
+	flagSet.BoolVar(mqttRetain, "mqtt-retain", *mqttRetain, "Retain mqtt message, if not set, true if MQTT_RETAIN env variable is set")
+}
+
+func InitMqttFlags(defaultClientId string, mqttBroker, username, password, clientId *string, mqttQos *int, mqttRetain *bool) {
+	InitMqttFlagSet(flag.CommandLine, defaultClientId, mqttBroker, username, password, clientId, mqttQos, mqttRetain)
 }
 
 func InitIntFlag(key string, defValue int) int {
@@ -92,5 +96,24 @@ func InitFloat64Flag(key string, defValue float64) float64 {
 }
 
 func Connect(uri, username, password, clientId string) (MQTT.Client, error) {
-	return mqttdevice.Connect(uri, username, password, clientId)
+	//create a ClientOptions struct setting the broker address, clientid, turn
+	//off trace output and set the default message handler
+	opts := MQTT.NewClientOptions().AddBroker(uri)
+	opts.SetUsername(username)
+	opts.SetPassword(password)
+	opts.SetClientID(clientId)
+	opts.SetAutoReconnect(true)
+	opts.SetDefaultPublishHandler(
+		//define a function for the default message handler
+		func(client MQTT.Client, msg MQTT.Message) {
+			fmt.Printf("TOPIC: %s\n", msg.Topic())
+			fmt.Printf("MSG: %s\n", msg.Payload())
+		})
+
+	//create and start a client using the above ClientOptions
+	client := MQTT.NewClient(opts)
+	if token := client.Connect(); token.Wait() && token.Error() != nil {
+		return nil, fmt.Errorf("unable to connect to mqtt bus: %v", token.Error())
+	}
+	return client, nil
 }
diff --git a/vendor/github.com/cyrilix/robocar-base/mqttdevice/mqttdevice.go b/vendor/github.com/cyrilix/robocar-base/mqttdevice/mqttdevice.go
deleted file mode 100644
index dba5368..0000000
--- a/vendor/github.com/cyrilix/robocar-base/mqttdevice/mqttdevice.go
+++ /dev/null
@@ -1,141 +0,0 @@
-package mqttdevice
-
-import (
-	"encoding/json"
-	"fmt"
-	"github.com/cyrilix/robocar-base/types"
-	MQTT "github.com/eclipse/paho.mqtt.golang"
-	"log"
-	"strconv"
-)
-
-type Publisher interface {
-	Publish(topic string, payload MqttValue)
-}
-
-type Subscriber interface {
-	Subscribe(topic string, mh MQTT.MessageHandler)
-}
-
-type MQTTPubSub interface {
-	Publisher
-	Subscriber
-}
-
-type pahoMqttPubSub struct {
-	client   MQTT.Client
-	qos      int
-	retain   bool
-}
-
-func NewPahoMqttPubSub(client MQTT.Client, qos int, retain bool) MQTTPubSub {
-	p := pahoMqttPubSub{client: client, qos: qos, retain: retain}
-	return &p
-}
-
-func Connect(uri, username, password, clientId string) (MQTT.Client, error) {
-	//create a ClientOptions struct setting the broker address, clientid, turn
-	//off trace output and set the default message handler
-	opts := MQTT.NewClientOptions().AddBroker(uri)
-	opts.SetUsername(username)
-	opts.SetPassword(password)
-	opts.SetClientID(clientId)
-	opts.SetAutoReconnect(true)
-	opts.SetDefaultPublishHandler(
-		//define a function for the default message handler
-		func(client MQTT.Client, msg MQTT.Message) {
-			fmt.Printf("TOPIC: %s\n", msg.Topic())
-			fmt.Printf("MSG: %s\n", msg.Payload())
-		})
-
-	//create and start a client using the above ClientOptions
-	client := MQTT.NewClient(opts)
-	if token := client.Connect(); token.Wait() && token.Error() != nil {
-		return nil, fmt.Errorf("unable to connect to mqtt bus: %v", token.Error())
-	}
-	return client, nil
-}
-
-// Publish message to broker
-func (p *pahoMqttPubSub) Publish(topic string, payload MqttValue) {
-	tokenResp := p.client.Publish(topic, byte(p.qos), p.retain, string(payload))
-	if tokenResp.Error() != nil {
-		log.Fatalf("%+v\n", tokenResp.Error())
-	}
-}
-
-// Register func to execute on message
-func (p *pahoMqttPubSub) Subscribe(topic string, callback MQTT.MessageHandler) {
-	tokenResp := p.client.Subscribe(topic, byte(p.qos), callback)
-	if tokenResp.Error() != nil {
-		log.Fatalf("%+v\n", tokenResp.Error())
-	}
-}
-
-type MqttValue []byte
-
-func NewMqttValue(v interface{}) MqttValue {
-	switch val := v.(type) {
-	case string:
-		return MqttValue(val)
-	case float32, float64:
-		return MqttValue(fmt.Sprintf("%0.2f", val))
-	case int, int8, int16, int32, int64:
-		return MqttValue(fmt.Sprintf("%d", val))
-	case bool:
-		if val {
-			return []byte("ON")
-		} else {
-			return []byte("OFF")
-		}
-	case []byte:
-		return val
-	case MqttValue:
-		return val
-	default:
-		jsonValue, err := json.Marshal(v)
-		if err != nil {
-			log.Printf("unable to mashall to json value '%v': %v", v, err)
-			return nil
-		}
-		return jsonValue
-	}
-}
-
-func (m *MqttValue) IntValue() (int, error) {
-	return strconv.Atoi(string(*m))
-}
-
-func (m *MqttValue) Float32Value() (float32, error) {
-	val := string(*m)
-	r, err := strconv.ParseFloat(val, 32)
-	return float32(r), err
-}
-func (m *MqttValue) Float64Value() (float64, error) {
-	val := string(*m)
-	return strconv.ParseFloat(val, 64)
-}
-func (m *MqttValue) StringValue() (string, error) {
-	return string(*m), nil
-}
-func (m *MqttValue) DriveModeValue() (types.DriveMode, error) {
-	val, err := m.IntValue()
-	if err != nil {
-		return types.DriveModeInvalid, err
-	}
-	return types.DriveMode(val), nil
-}
-func (m *MqttValue) ByteSliceValue() ([]byte, error) {
-	return *m, nil
-}
-func (m *MqttValue) BoolValue() (bool, error) {
-	val := string(*m)
-	switch val {
-	case "ON":
-		return true, nil
-	case "OFF":
-		return false, nil
-	default:
-		return false, fmt.Errorf("value %v can't be converted to bool", val)
-	}
-}
diff --git a/vendor/github.com/cyrilix/robocar-base/testtools/testtools.go b/vendor/github.com/cyrilix/robocar-base/testtools/testtools.go
index cb82689..e49c3d9 100644
--- a/vendor/github.com/cyrilix/robocar-base/testtools/testtools.go
+++ b/vendor/github.com/cyrilix/robocar-base/testtools/testtools.go
@@ -1,35 +1,11 @@
 package testtools
 
 import (
-	"github.com/cyrilix/robocar-base/mqttdevice"
 	mqtt "github.com/eclipse/paho.mqtt.golang"
 	"github.com/golang/protobuf/proto"
 	log "github.com/sirupsen/logrus"
-	"sync"
 )
 
-
-func NewFakePublisher() *FakePublisher {
-	return &FakePublisher{msg: make(map[string]mqttdevice.MqttValue)}
-}
-
-type FakePublisher struct {
-	muMsg sync.Mutex
-	msg   map[string]mqttdevice.MqttValue
-}
-
-func (f *FakePublisher) Publish(topic string, payload mqttdevice.MqttValue) {
-	f.muMsg.Lock()
-	defer f.muMsg.Unlock()
-	f.msg[topic] = payload
-}
-
-func (f *FakePublisher) PublishedEvent(topic string) mqttdevice.MqttValue {
-	f.muMsg.Lock()
-	defer f.muMsg.Unlock()
-	return f.msg[topic]
-}
-
 type fakeMessage struct {
 	qos     byte
 	topic   string
diff --git a/vendor/github.com/cyrilix/robocar-base/types/mode.go b/vendor/github.com/cyrilix/robocar-base/types/mode.go
deleted file mode 100644
index de839a9..0000000
--- a/vendor/github.com/cyrilix/robocar-base/types/mode.go
+++ /dev/null
@@ -1,36 +0,0 @@
-package types
-
-import (
-	"log"
-)
-
-type DriveMode int
-
-const (
-	DriveModeInvalid = -1
-	DriveModeUser    = iota
-	DriveModePilot
-)
-
-func ToString(mode DriveMode) string {
-	switch mode {
-	case DriveModeUser:
-		return "user"
-	case DriveModePilot:
-		return "pilot"
-	default:
-		return ""
-	}
-}
-
-func ParseString(val string) DriveMode {
-	switch val {
-	case "user":
-		return DriveModeUser
-	case "pilot":
-		return DriveModePilot
-	default:
-		log.Printf("invalid DriveMode: %v", val)
-		return DriveModeInvalid
-	}
-}
diff --git a/vendor/github.com/cyrilix/robocar-base/types/rc.go b/vendor/github.com/cyrilix/robocar-base/types/rc.go
deleted file mode 100644
index 6568d92..0000000
--- a/vendor/github.com/cyrilix/robocar-base/types/rc.go
+++ /dev/null
@@ -1,10 +0,0 @@
-package types
-
-/* Radio control value */
-type RCValue struct {
-	Value      float64
-	Confidence float64
-}
-
-type Steering RCValue
-type Throttle RCValue
diff --git a/vendor/github.com/cyrilix/robocar-base/types/types.go b/vendor/github.com/cyrilix/robocar-base/types/types.go
deleted file mode 100644
index 583dc65..0000000
--- a/vendor/github.com/cyrilix/robocar-base/types/types.go
+++ /dev/null
@@ -1,5 +0,0 @@
-package types
-
-type BoundingBox struct {
-	Left, Top, Right, Bottom int
-}
diff --git a/vendor/github.com/cyrilix/robocar-protobuf/go/events/events.pb.go b/vendor/github.com/cyrilix/robocar-protobuf/go/events/events.pb.go
index 2179c36..2982f53 100644
--- a/vendor/github.com/cyrilix/robocar-protobuf/go/events/events.pb.go
+++ b/vendor/github.com/cyrilix/robocar-protobuf/go/events/events.pb.go
@@ -6,6 +6,7 @@ package events
 import (
 	fmt "fmt"
 	proto "github.com/golang/protobuf/proto"
+	timestamp "github.com/golang/protobuf/ptypes/timestamp"
 	math "math"
 )
 
@@ -80,11 +81,12 @@ func (TypeObject) EnumDescriptor() ([]byte, []int) {
 }
 
 type FrameRef struct {
-	Name                 string   `protobuf:"bytes,1,opt,name=name,proto3" json:"name,omitempty"`
-	Id                   string   `protobuf:"bytes,2,opt,name=id,proto3" json:"id,omitempty"`
-	XXX_NoUnkeyedLiteral struct{} `json:"-"`
-	XXX_unrecognized     []byte   `json:"-"`
-	XXX_sizecache        int32    `json:"-"`
+	Name                 string               `protobuf:"bytes,1,opt,name=name,proto3" json:"name,omitempty"`
+	Id                   string               `protobuf:"bytes,2,opt,name=id,proto3" json:"id,omitempty"`
+	CreatedAt            *timestamp.Timestamp `protobuf:"bytes,3,opt,name=created_at,json=createdAt,proto3" json:"created_at,omitempty"`
+	XXX_NoUnkeyedLiteral struct{}             `json:"-"`
+	XXX_unrecognized     []byte               `json:"-"`
+	XXX_sizecache        int32                `json:"-"`
 }
 
 func (m *FrameRef) Reset()         { *m = FrameRef{} }
@@ -126,6 +128,13 @@ func (m *FrameRef) GetId() string {
 	return ""
 }
 
+func (m *FrameRef) GetCreatedAt() *timestamp.Timestamp {
+	if m != nil {
+		return m.CreatedAt
+	}
+	return nil
+}
+
 type FrameMessage struct {
 	Id                   *FrameRef `protobuf:"bytes,1,opt,name=id,proto3" json:"id,omitempty"`
 	Frame                []byte    `protobuf:"bytes,2,opt,name=frame,proto3" json:"frame,omitempty"`
@@ -369,10 +378,11 @@ func (m *ObjectsMessage) GetFrameRef() *FrameRef {
 	return nil
 }
 
+// BoundingBox that contains an object
 type Object struct {
 	Type                 TypeObject `protobuf:"varint,1,opt,name=type,proto3,enum=robocar.events.TypeObject" json:"type,omitempty"`
-	LLeft                int32      `protobuf:"varint,2,opt,name=lLeft,proto3" json:"lLeft,omitempty"`
-	Up                   int32      `protobuf:"varint,3,opt,name=up,proto3" json:"up,omitempty"`
+	Left                 int32      `protobuf:"varint,2,opt,name=left,proto3" json:"left,omitempty"`
+	Top                  int32      `protobuf:"varint,3,opt,name=top,proto3" json:"top,omitempty"`
 	Right                int32      `protobuf:"varint,4,opt,name=right,proto3" json:"right,omitempty"`
 	Bottom               int32      `protobuf:"varint,5,opt,name=bottom,proto3" json:"bottom,omitempty"`
 	Confidence           float32    `protobuf:"fixed32,6,opt,name=confidence,proto3" json:"confidence,omitempty"`
@@ -413,16 +423,16 @@ func (m *Object) GetType() TypeObject {
 	return TypeObject_ANY
 }
 
-func (m *Object) GetLLeft() int32 {
+func (m *Object) GetLeft() int32 {
 	if m != nil {
-		return m.LLeft
+		return m.Left
 	}
 	return 0
 }
 
-func (m *Object) GetUp() int32 {
+func (m *Object) GetTop() int32 {
 	if m != nil {
-		return m.Up
+		return m.Top
 	}
 	return 0
 }
@@ -487,6 +497,236 @@ func (m *SwitchRecordMessage) GetEnabled() bool {
 	return false
 }
 
+// Road description
+type RoadMessage struct {
+	Contour              []*Point  `protobuf:"bytes,1,rep,name=contour,proto3" json:"contour,omitempty"`
+	Ellipse              *Ellipse  `protobuf:"bytes,2,opt,name=ellipse,proto3" json:"ellipse,omitempty"`
+	FrameRef             *FrameRef `protobuf:"bytes,3,opt,name=frame_ref,json=frameRef,proto3" json:"frame_ref,omitempty"`
+	XXX_NoUnkeyedLiteral struct{}  `json:"-"`
+	XXX_unrecognized     []byte    `json:"-"`
+	XXX_sizecache        int32     `json:"-"`
+}
+
+func (m *RoadMessage) Reset()         { *m = RoadMessage{} }
+func (m *RoadMessage) String() string { return proto.CompactTextString(m) }
+func (*RoadMessage) ProtoMessage()    {}
+func (*RoadMessage) Descriptor() ([]byte, []int) {
+	return fileDescriptor_8ec31f2d2a3db598, []int{8}
+}
+
+func (m *RoadMessage) XXX_Unmarshal(b []byte) error {
+	return xxx_messageInfo_RoadMessage.Unmarshal(m, b)
+}
+func (m *RoadMessage) XXX_Marshal(b []byte, deterministic bool) ([]byte, error) {
+	return xxx_messageInfo_RoadMessage.Marshal(b, m, deterministic)
+}
+func (m *RoadMessage) XXX_Merge(src proto.Message) {
+	xxx_messageInfo_RoadMessage.Merge(m, src)
+}
+func (m *RoadMessage) XXX_Size() int {
+	return xxx_messageInfo_RoadMessage.Size(m)
+}
+func (m *RoadMessage) XXX_DiscardUnknown() {
+	xxx_messageInfo_RoadMessage.DiscardUnknown(m)
+}
+
+var xxx_messageInfo_RoadMessage proto.InternalMessageInfo
+
+func (m *RoadMessage) GetContour() []*Point {
+	if m != nil {
+		return m.Contour
+	}
+	return nil
+}
+
+func (m *RoadMessage) GetEllipse() *Ellipse {
+	if m != nil {
+		return m.Ellipse
+	}
+	return nil
+}
+
+func (m *RoadMessage) GetFrameRef() *FrameRef {
+	if m != nil {
+		return m.FrameRef
+	}
+	return nil
+}
+
+type Point struct {
+	X                    int32    `protobuf:"varint,1,opt,name=x,proto3" json:"x,omitempty"`
+	Y                    int32    `protobuf:"varint,2,opt,name=y,proto3" json:"y,omitempty"`
+	XXX_NoUnkeyedLiteral struct{} `json:"-"`
+	XXX_unrecognized     []byte   `json:"-"`
+	XXX_sizecache        int32    `json:"-"`
+}
+
+func (m *Point) Reset()         { *m = Point{} }
+func (m *Point) String() string { return proto.CompactTextString(m) }
+func (*Point) ProtoMessage()    {}
+func (*Point) Descriptor() ([]byte, []int) {
+	return fileDescriptor_8ec31f2d2a3db598, []int{9}
+}
+
+func (m *Point) XXX_Unmarshal(b []byte) error {
+	return xxx_messageInfo_Point.Unmarshal(m, b)
+}
+func (m *Point) XXX_Marshal(b []byte, deterministic bool) ([]byte, error) {
+	return xxx_messageInfo_Point.Marshal(b, m, deterministic)
+}
+func (m *Point) XXX_Merge(src proto.Message) {
+	xxx_messageInfo_Point.Merge(m, src)
+}
+func (m *Point) XXX_Size() int {
+	return xxx_messageInfo_Point.Size(m)
+}
+func (m *Point) XXX_DiscardUnknown() {
+	xxx_messageInfo_Point.DiscardUnknown(m)
+}
+
+var xxx_messageInfo_Point proto.InternalMessageInfo
+
+func (m *Point) GetX() int32 {
+	if m != nil {
+		return m.X
+	}
+	return 0
+}
+
+func (m *Point) GetY() int32 {
+	if m != nil {
+		return m.Y
+	}
+	return 0
+}
+
+type Ellipse struct {
+	Center               *Point   `protobuf:"bytes,1,opt,name=center,proto3" json:"center,omitempty"`
+	Width                int32    `protobuf:"varint,2,opt,name=width,proto3" json:"width,omitempty"`
+	Height               int32    `protobuf:"varint,3,opt,name=height,proto3" json:"height,omitempty"`
+	Angle                float32  `protobuf:"fixed32,4,opt,name=angle,proto3" json:"angle,omitempty"`
+	Confidence           float32  `protobuf:"fixed32,5,opt,name=confidence,proto3" json:"confidence,omitempty"`
+	XXX_NoUnkeyedLiteral struct{} `json:"-"`
+	XXX_unrecognized     []byte   `json:"-"`
+	XXX_sizecache        int32    `json:"-"`
+}
+
+func (m *Ellipse) Reset()         { *m = Ellipse{} }
+func (m *Ellipse) String() string { return proto.CompactTextString(m) }
+func (*Ellipse) ProtoMessage()    {}
+func (*Ellipse) Descriptor() ([]byte, []int) {
+	return fileDescriptor_8ec31f2d2a3db598, []int{10}
+}
+
+func (m *Ellipse) XXX_Unmarshal(b []byte) error {
+	return xxx_messageInfo_Ellipse.Unmarshal(m, b)
+}
+func (m *Ellipse) XXX_Marshal(b []byte, deterministic bool) ([]byte, error) {
+	return xxx_messageInfo_Ellipse.Marshal(b, m, deterministic)
+}
+func (m *Ellipse) XXX_Merge(src proto.Message) {
+	xxx_messageInfo_Ellipse.Merge(m, src)
+}
+func (m *Ellipse) XXX_Size() int {
+	return xxx_messageInfo_Ellipse.Size(m)
+}
+func (m *Ellipse) XXX_DiscardUnknown() {
+	xxx_messageInfo_Ellipse.DiscardUnknown(m)
+}
+
+var xxx_messageInfo_Ellipse proto.InternalMessageInfo
+
+func (m *Ellipse) GetCenter() *Point {
+	if m != nil {
+		return m.Center
+	}
+	return nil
+}
+
+func (m *Ellipse) GetWidth() int32 {
+	if m != nil {
+		return m.Width
+	}
+	return 0
+}
+
+func (m *Ellipse) GetHeight() int32 {
+	if m != nil {
+		return m.Height
+	}
+	return 0
+}
+
+func (m *Ellipse) GetAngle() float32 {
+	if m != nil {
+		return m.Angle
+	}
+	return 0
+}
+
+func (m *Ellipse) GetConfidence() float32 {
+	if m != nil {
+		return m.Confidence
+	}
+	return 0
+}
+
+// Record message used to tensorflow learning
+type RecordMessage struct {
+	Frame                *FrameMessage    `protobuf:"bytes,1,opt,name=frame,proto3" json:"frame,omitempty"`
+	Steering             *SteeringMessage `protobuf:"bytes,2,opt,name=steering,proto3" json:"steering,omitempty"`
+	RecordSet            string           `protobuf:"bytes,3,opt,name=recordSet,proto3" json:"recordSet,omitempty"`
+	XXX_NoUnkeyedLiteral struct{}         `json:"-"`
+	XXX_unrecognized     []byte           `json:"-"`
+	XXX_sizecache        int32            `json:"-"`
+}
+
+func (m *RecordMessage) Reset()         { *m = RecordMessage{} }
+func (m *RecordMessage) String() string { return proto.CompactTextString(m) }
+func (*RecordMessage) ProtoMessage()    {}
+func (*RecordMessage) Descriptor() ([]byte, []int) {
+	return fileDescriptor_8ec31f2d2a3db598, []int{11}
+}
+
+func (m *RecordMessage) XXX_Unmarshal(b []byte) error {
+	return xxx_messageInfo_RecordMessage.Unmarshal(m, b)
+}
+func (m *RecordMessage) XXX_Marshal(b []byte, deterministic bool) ([]byte, error) {
+	return xxx_messageInfo_RecordMessage.Marshal(b, m, deterministic)
+}
+func (m *RecordMessage) XXX_Merge(src proto.Message) {
+	xxx_messageInfo_RecordMessage.Merge(m, src)
+}
+func (m *RecordMessage) XXX_Size() int {
+	return xxx_messageInfo_RecordMessage.Size(m)
+}
+func (m *RecordMessage) XXX_DiscardUnknown() {
+	xxx_messageInfo_RecordMessage.DiscardUnknown(m)
+}
+
+var xxx_messageInfo_RecordMessage proto.InternalMessageInfo
+
+func (m *RecordMessage) GetFrame() *FrameMessage {
+	if m != nil {
+		return m.Frame
+	}
+	return nil
+}
+
+func (m *RecordMessage) GetSteering() *SteeringMessage {
+	if m != nil {
+		return m.Steering
+	}
+	return nil
+}
+
+func (m *RecordMessage) GetRecordSet() string {
+	if m != nil {
+		return m.RecordSet
+	}
+	return ""
+}
+
 func init() {
 	proto.RegisterEnum("robocar.events.DriveMode", DriveMode_name, DriveMode_value)
 	proto.RegisterEnum("robocar.events.TypeObject", TypeObject_name, TypeObject_value)
@@ -498,40 +738,58 @@ func init() {
 	proto.RegisterType((*ObjectsMessage)(nil), "robocar.events.ObjectsMessage")
 	proto.RegisterType((*Object)(nil), "robocar.events.Object")
 	proto.RegisterType((*SwitchRecordMessage)(nil), "robocar.events.SwitchRecordMessage")
+	proto.RegisterType((*RoadMessage)(nil), "robocar.events.RoadMessage")
+	proto.RegisterType((*Point)(nil), "robocar.events.Point")
+	proto.RegisterType((*Ellipse)(nil), "robocar.events.Ellipse")
+	proto.RegisterType((*RecordMessage)(nil), "robocar.events.RecordMessage")
 }
 
 func init() { proto.RegisterFile("events/events.proto", fileDescriptor_8ec31f2d2a3db598) }
 
 var fileDescriptor_8ec31f2d2a3db598 = []byte{
-	// 473 bytes of a gzipped FileDescriptorProto
-	0x1f, 0x8b, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0xff, 0xb4, 0x53, 0x4d, 0x6b, 0xdb, 0x40,
-	0x10, 0x8d, 0x64, 0x5b, 0x96, 0x26, 0xc1, 0x15, 0x9b, 0x12, 0xd4, 0x1c, 0x4a, 0xd0, 0xc9, 0x04,
-	0xaa, 0x14, 0x97, 0x42, 0xaf, 0x4e, 0xd3, 0x82, 0xc1, 0x76, 0xcc, 0xda, 0x29, 0xb4, 0x97, 0xa0,
-	0x8f, 0x91, 0xad, 0x62, 0x6b, 0xc5, 0x6a, 0x93, 0xe2, 0x7b, 0x7f, 0x4e, 0x7f, 0x64, 0xd9, 0x5d,
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-	0x00, 0x90, 0x49, 0xee, 0x7e, 0xc7, 0x32, 0x1d, 0x64, 0x30, 0x7a, 0xd5, 0xf6, 0x3a, 0xa8, 0xa8,
-	0x97, 0x99, 0x32, 0xdc, 0xc3, 0xe0, 0x36, 0xf9, 0x8e, 0xa9, 0xa8, 0x8d, 0xd7, 0x5b, 0xe8, 0x33,
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-	0xac, 0x37, 0x22, 0xe8, 0xea, 0x2e, 0x05, 0xc8, 0x19, 0x38, 0x09, 0x13, 0x82, 0xed, 0x82, 0x9e,
-	0xa2, 0x1b, 0xd4, 0x7a, 0x2e, 0xa7, 0xfd, 0x5c, 0xe1, 0x15, 0x9c, 0x2e, 0x7f, 0x14, 0x22, 0xdd,
-	0x50, 0x4c, 0x19, 0xcf, 0xcc, 0xb8, 0x02, 0xe8, 0x63, 0x19, 0x27, 0x5b, 0xd4, 0x1b, 0xee, 0x52,
-	0x03, 0x2f, 0xdf, 0x80, 0x77, 0x18, 0x39, 0x39, 0x86, 0xfe, 0x64, 0xfe, 0x65, 0x3c, 0x9d, 0xdc,
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-	0xae, 0x7c, 0xfb, 0x72, 0x04, 0xf0, 0xe7, 0x9e, 0xa4, 0x0f, 0x9d, 0xf1, 0xfc, 0xab, 0x7f, 0x24,
-	0x8b, 0x8f, 0x63, 0xd9, 0xea, 0x42, 0xf7, 0xfa, 0x6e, 0xb6, 0xf0, 0x6d, 0x59, 0x2d, 0xa4, 0xa6,
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-	0xff, 0x77, 0x9d, 0xdb, 0x75, 0xd1, 0x03, 0x00, 0x00,
+	// 696 bytes of a gzipped FileDescriptorProto
+	0x1f, 0x8b, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0xff, 0xb4, 0x54, 0x5b, 0x6f, 0x12, 0x51,
+	0x10, 0xee, 0x2e, 0x2c, 0xb0, 0x43, 0x45, 0x72, 0xaa, 0x75, 0x25, 0x8d, 0x6d, 0xf0, 0x85, 0x34,
+	0xe9, 0xa2, 0x18, 0x13, 0x8d, 0x4f, 0xd4, 0xd6, 0xa4, 0x49, 0x2f, 0xe4, 0x40, 0x4d, 0xf4, 0xa5,
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+	0x35, 0xce, 0x86, 0x2c, 0x0c, 0xb8, 0xaf, 0xbc, 0x8d, 0xed, 0x31, 0x63, 0xe3, 0x29, 0xb6, 0xe5,
+	0xbf, 0xc3, 0xcb, 0x51, 0x5b, 0xc4, 0x33, 0x4c, 0x45, 0x30, 0x9b, 0xab, 0x84, 0x66, 0x0c, 0x95,
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+	0x06, 0x02, 0xa3, 0x8b, 0x40, 0x78, 0x85, 0x1d, 0xab, 0x55, 0xed, 0x34, 0x7c, 0x55, 0xc5, 0x37,
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+	0x4d, 0x83, 0x31, 0x92, 0x96, 0xa4, 0xb6, 0x24, 0x85, 0xe7, 0xdf, 0x15, 0xee, 0x1b, 0x51, 0xb2,
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+	0x0a, 0x14, 0xcf, 0xfb, 0x87, 0xb4, 0x6e, 0x11, 0x17, 0x9c, 0xde, 0xd1, 0xf1, 0xd9, 0xa0, 0x6e,
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+	0xbb, 0x59, 0x68, 0x05, 0x8a, 0xfb, 0xe7, 0x27, 0xbd, 0xba, 0x9d, 0x59, 0xbd, 0x2c, 0xa7, 0xb0,
+	0x5f, 0xf9, 0x5c, 0x52, 0x22, 0x87, 0x25, 0x79, 0xa2, 0x5f, 0xfd, 0x0a, 0x00, 0x00, 0xff, 0xff,
+	0x5d, 0x6e, 0x23, 0x4e, 0x3d, 0x06, 0x00, 0x00,
 }
diff --git a/vendor/github.com/golang/protobuf/proto/lib.go b/vendor/github.com/golang/protobuf/proto/lib.go
index fdd328b..70fbda5 100644
--- a/vendor/github.com/golang/protobuf/proto/lib.go
+++ b/vendor/github.com/golang/protobuf/proto/lib.go
@@ -393,7 +393,7 @@ func (p *Buffer) Bytes() []byte { return p.buf }
 // than relying on this API.
 //
 // If deterministic serialization is requested, map entries will be sorted
-// by keys in lexographical order. This is an implementation detail and
+// by keys in lexicographical order. This is an implementation detail and
 // subject to change.
 func (p *Buffer) SetDeterministic(deterministic bool) {
 	p.deterministic = deterministic
diff --git a/vendor/github.com/golang/protobuf/proto/text.go b/vendor/github.com/golang/protobuf/proto/text.go
index 1aaee72..d97f9b3 100644
--- a/vendor/github.com/golang/protobuf/proto/text.go
+++ b/vendor/github.com/golang/protobuf/proto/text.go
@@ -456,6 +456,8 @@ func (tm *TextMarshaler) writeStruct(w *textWriter, sv reflect.Value) error {
 	return nil
 }
 
+var textMarshalerType = reflect.TypeOf((*encoding.TextMarshaler)(nil)).Elem()
+
 // writeAny writes an arbitrary field.
 func (tm *TextMarshaler) writeAny(w *textWriter, v reflect.Value, props *Properties) error {
 	v = reflect.Indirect(v)
@@ -519,8 +521,8 @@ func (tm *TextMarshaler) writeAny(w *textWriter, v reflect.Value, props *Propert
 			// mutating this value.
 			v = v.Addr()
 		}
-		if etm, ok := v.Interface().(encoding.TextMarshaler); ok {
-			text, err := etm.MarshalText()
+		if v.Type().Implements(textMarshalerType) {
+			text, err := v.Interface().(encoding.TextMarshaler).MarshalText()
 			if err != nil {
 				return err
 			}
diff --git a/vendor/github.com/golang/protobuf/ptypes/timestamp/timestamp.pb.go b/vendor/github.com/golang/protobuf/ptypes/timestamp/timestamp.pb.go
new file mode 100644
index 0000000..7a3b1e4
--- /dev/null
+++ b/vendor/github.com/golang/protobuf/ptypes/timestamp/timestamp.pb.go
@@ -0,0 +1,185 @@
+// Code generated by protoc-gen-go. DO NOT EDIT.
+// source: google/protobuf/timestamp.proto
+
+package timestamp
+
+import (
+	fmt "fmt"
+	proto "github.com/golang/protobuf/proto"
+	math "math"
+)
+
+// Reference imports to suppress errors if they are not otherwise used.
+var _ = proto.Marshal
+var _ = fmt.Errorf
+var _ = math.Inf
+
+// This is a compile-time assertion to ensure that this generated file
+// is compatible with the proto package it is being compiled against.
+// A compilation error at this line likely means your copy of the
+// proto package needs to be updated.
+const _ = proto.ProtoPackageIsVersion3 // please upgrade the proto package
+
+// A Timestamp represents a point in time independent of any time zone or local
+// calendar, encoded as a count of seconds and fractions of seconds at
+// nanosecond resolution. The count is relative to an epoch at UTC midnight on
+// January 1, 1970, in the proleptic Gregorian calendar which extends the
+// Gregorian calendar backwards to year one.
+//
+// All minutes are 60 seconds long. Leap seconds are "smeared" so that no leap
+// second table is needed for interpretation, using a [24-hour linear
+// smear](https://developers.google.com/time/smear).
+//
+// The range is from 0001-01-01T00:00:00Z to 9999-12-31T23:59:59.999999999Z. By
+// restricting to that range, we ensure that we can convert to and from [RFC
+// 3339](https://www.ietf.org/rfc/rfc3339.txt) date strings.
+//
+// # Examples
+//
+// Example 1: Compute Timestamp from POSIX `time()`.
+//
+//     Timestamp timestamp;
+//     timestamp.set_seconds(time(NULL));
+//     timestamp.set_nanos(0);
+//
+// Example 2: Compute Timestamp from POSIX `gettimeofday()`.
+//
+//     struct timeval tv;
+//     gettimeofday(&tv, NULL);
+//
+//     Timestamp timestamp;
+//     timestamp.set_seconds(tv.tv_sec);
+//     timestamp.set_nanos(tv.tv_usec * 1000);
+//
+// Example 3: Compute Timestamp from Win32 `GetSystemTimeAsFileTime()`.
+//
+//     FILETIME ft;
+//     GetSystemTimeAsFileTime(&ft);
+//     UINT64 ticks = (((UINT64)ft.dwHighDateTime) << 32) | ft.dwLowDateTime;
+//
+//     // A Windows tick is 100 nanoseconds. Windows epoch 1601-01-01T00:00:00Z
+//     // is 11644473600 seconds before Unix epoch 1970-01-01T00:00:00Z.
+//     Timestamp timestamp;
+//     timestamp.set_seconds((INT64) ((ticks / 10000000) - 11644473600LL));
+//     timestamp.set_nanos((INT32) ((ticks % 10000000) * 100));
+//
+// Example 4: Compute Timestamp from Java `System.currentTimeMillis()`.
+//
+//     long millis = System.currentTimeMillis();
+//
+//     Timestamp timestamp = Timestamp.newBuilder().setSeconds(millis / 1000)
+//         .setNanos((int) ((millis % 1000) * 1000000)).build();
+//
+//
+// Example 5: Compute Timestamp from current time in Python.
+//
+//     timestamp = Timestamp()
+//     timestamp.GetCurrentTime()
+//
+// # JSON Mapping
+//
+// In JSON format, the Timestamp type is encoded as a string in the
+// [RFC 3339](https://www.ietf.org/rfc/rfc3339.txt) format. That is, the
+// format is "{year}-{month}-{day}T{hour}:{min}:{sec}[.{frac_sec}]Z"
+// where {year} is always expressed using four digits while {month}, {day},
+// {hour}, {min}, and {sec} are zero-padded to two digits each. The fractional
+// seconds, which can go up to 9 digits (i.e. up to 1 nanosecond resolution),
+// are optional. The "Z" suffix indicates the timezone ("UTC"); the timezone
+// is required. A proto3 JSON serializer should always use UTC (as indicated by
+// "Z") when printing the Timestamp type and a proto3 JSON parser should be
+// able to accept both UTC and other timezones (as indicated by an offset).
+//
+// For example, "2017-01-15T01:30:15.01Z" encodes 15.01 seconds past
+// 01:30 UTC on January 15, 2017.
+//
+// In JavaScript, one can convert a Date object to this format using the
+// standard
+// [toISOString()](https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/Date/toISOString)
+// method. In Python, a standard `datetime.datetime` object can be converted
+// to this format using
+// [`strftime`](https://docs.python.org/2/library/time.html#time.strftime) with
+// the time format spec '%Y-%m-%dT%H:%M:%S.%fZ'. Likewise, in Java, one can use
+// the Joda Time's [`ISODateTimeFormat.dateTime()`](
+// http://www.joda.org/joda-time/apidocs/org/joda/time/format/ISODateTimeFormat.html#dateTime%2D%2D
+// ) to obtain a formatter capable of generating timestamps in this format.
+//
+//
+type Timestamp struct {
+	// Represents seconds of UTC time since Unix epoch
+	// 1970-01-01T00:00:00Z. Must be from 0001-01-01T00:00:00Z to
+	// 9999-12-31T23:59:59Z inclusive.
+	Seconds int64 `protobuf:"varint,1,opt,name=seconds,proto3" json:"seconds,omitempty"`
+	// Non-negative fractions of a second at nanosecond resolution. Negative
+	// second values with fractions must still have non-negative nanos values
+	// that count forward in time. Must be from 0 to 999,999,999
+	// inclusive.
+	Nanos                int32    `protobuf:"varint,2,opt,name=nanos,proto3" json:"nanos,omitempty"`
+	XXX_NoUnkeyedLiteral struct{} `json:"-"`
+	XXX_unrecognized     []byte   `json:"-"`
+	XXX_sizecache        int32    `json:"-"`
+}
+
+func (m *Timestamp) Reset()         { *m = Timestamp{} }
+func (m *Timestamp) String() string { return proto.CompactTextString(m) }
+func (*Timestamp) ProtoMessage()    {}
+func (*Timestamp) Descriptor() ([]byte, []int) {
+	return fileDescriptor_292007bbfe81227e, []int{0}
+}
+
+func (*Timestamp) XXX_WellKnownType() string { return "Timestamp" }
+
+func (m *Timestamp) XXX_Unmarshal(b []byte) error {
+	return xxx_messageInfo_Timestamp.Unmarshal(m, b)
+}
+func (m *Timestamp) XXX_Marshal(b []byte, deterministic bool) ([]byte, error) {
+	return xxx_messageInfo_Timestamp.Marshal(b, m, deterministic)
+}
+func (m *Timestamp) XXX_Merge(src proto.Message) {
+	xxx_messageInfo_Timestamp.Merge(m, src)
+}
+func (m *Timestamp) XXX_Size() int {
+	return xxx_messageInfo_Timestamp.Size(m)
+}
+func (m *Timestamp) XXX_DiscardUnknown() {
+	xxx_messageInfo_Timestamp.DiscardUnknown(m)
+}
+
+var xxx_messageInfo_Timestamp proto.InternalMessageInfo
+
+func (m *Timestamp) GetSeconds() int64 {
+	if m != nil {
+		return m.Seconds
+	}
+	return 0
+}
+
+func (m *Timestamp) GetNanos() int32 {
+	if m != nil {
+		return m.Nanos
+	}
+	return 0
+}
+
+func init() {
+	proto.RegisterType((*Timestamp)(nil), "google.protobuf.Timestamp")
+}
+
+func init() {
+	proto.RegisterFile("google/protobuf/timestamp.proto", fileDescriptor_292007bbfe81227e)
+}
+
+var fileDescriptor_292007bbfe81227e = []byte{
+	// 191 bytes of a gzipped FileDescriptorProto
+	0x1f, 0x8b, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0xff, 0xe2, 0x92, 0x4f, 0xcf, 0xcf, 0x4f,
+	0xcf, 0x49, 0xd5, 0x2f, 0x28, 0xca, 0x2f, 0xc9, 0x4f, 0x2a, 0x4d, 0xd3, 0x2f, 0xc9, 0xcc, 0x4d,
+	0x2d, 0x2e, 0x49, 0xcc, 0x2d, 0xd0, 0x03, 0x0b, 0x09, 0xf1, 0x43, 0x14, 0xe8, 0xc1, 0x14, 0x28,
+	0x59, 0x73, 0x71, 0x86, 0xc0, 0xd4, 0x08, 0x49, 0x70, 0xb1, 0x17, 0xa7, 0x26, 0xe7, 0xe7, 0xa5,
+	0x14, 0x4b, 0x30, 0x2a, 0x30, 0x6a, 0x30, 0x07, 0xc1, 0xb8, 0x42, 0x22, 0x5c, 0xac, 0x79, 0x89,
+	0x79, 0xf9, 0xc5, 0x12, 0x4c, 0x0a, 0x8c, 0x1a, 0xac, 0x41, 0x10, 0x8e, 0x53, 0x1d, 0x97, 0x70,
+	0x72, 0x7e, 0xae, 0x1e, 0x9a, 0x99, 0x4e, 0x7c, 0x70, 0x13, 0x03, 0x40, 0x42, 0x01, 0x8c, 0x51,
+	0xda, 0xe9, 0x99, 0x25, 0x19, 0xa5, 0x49, 0x7a, 0xc9, 0xf9, 0xb9, 0xfa, 0xe9, 0xf9, 0x39, 0x89,
+	0x79, 0xe9, 0x08, 0x27, 0x16, 0x94, 0x54, 0x16, 0xa4, 0x16, 0x23, 0x5c, 0xfa, 0x83, 0x91, 0x71,
+	0x11, 0x13, 0xb3, 0x7b, 0x80, 0xd3, 0x2a, 0x26, 0x39, 0x77, 0x88, 0xc9, 0x01, 0x50, 0xb5, 0x7a,
+	0xe1, 0xa9, 0x39, 0x39, 0xde, 0x79, 0xf9, 0xe5, 0x79, 0x21, 0x20, 0x3d, 0x49, 0x6c, 0x60, 0x43,
+	0x8c, 0x01, 0x01, 0x00, 0x00, 0xff, 0xff, 0xbc, 0x77, 0x4a, 0x07, 0xf7, 0x00, 0x00, 0x00,
+}
diff --git a/vendor/github.com/golang/protobuf/ptypes/timestamp/timestamp.proto b/vendor/github.com/golang/protobuf/ptypes/timestamp/timestamp.proto
new file mode 100644
index 0000000..cd35786
--- /dev/null
+++ b/vendor/github.com/golang/protobuf/ptypes/timestamp/timestamp.proto
@@ -0,0 +1,138 @@
+// Protocol Buffers - Google's data interchange format
+// Copyright 2008 Google Inc.  All rights reserved.
+// https://developers.google.com/protocol-buffers/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+syntax = "proto3";
+
+package google.protobuf;
+
+option csharp_namespace = "Google.Protobuf.WellKnownTypes";
+option cc_enable_arenas = true;
+option go_package = "github.com/golang/protobuf/ptypes/timestamp";
+option java_package = "com.google.protobuf";
+option java_outer_classname = "TimestampProto";
+option java_multiple_files = true;
+option objc_class_prefix = "GPB";
+
+// A Timestamp represents a point in time independent of any time zone or local
+// calendar, encoded as a count of seconds and fractions of seconds at
+// nanosecond resolution. The count is relative to an epoch at UTC midnight on
+// January 1, 1970, in the proleptic Gregorian calendar which extends the
+// Gregorian calendar backwards to year one.
+//
+// All minutes are 60 seconds long. Leap seconds are "smeared" so that no leap
+// second table is needed for interpretation, using a [24-hour linear
+// smear](https://developers.google.com/time/smear).
+//
+// The range is from 0001-01-01T00:00:00Z to 9999-12-31T23:59:59.999999999Z. By
+// restricting to that range, we ensure that we can convert to and from [RFC
+// 3339](https://www.ietf.org/rfc/rfc3339.txt) date strings.
+//
+// # Examples
+//
+// Example 1: Compute Timestamp from POSIX `time()`.
+//
+//     Timestamp timestamp;
+//     timestamp.set_seconds(time(NULL));
+//     timestamp.set_nanos(0);
+//
+// Example 2: Compute Timestamp from POSIX `gettimeofday()`.
+//
+//     struct timeval tv;
+//     gettimeofday(&tv, NULL);
+//
+//     Timestamp timestamp;
+//     timestamp.set_seconds(tv.tv_sec);
+//     timestamp.set_nanos(tv.tv_usec * 1000);
+//
+// Example 3: Compute Timestamp from Win32 `GetSystemTimeAsFileTime()`.
+//
+//     FILETIME ft;
+//     GetSystemTimeAsFileTime(&ft);
+//     UINT64 ticks = (((UINT64)ft.dwHighDateTime) << 32) | ft.dwLowDateTime;
+//
+//     // A Windows tick is 100 nanoseconds. Windows epoch 1601-01-01T00:00:00Z
+//     // is 11644473600 seconds before Unix epoch 1970-01-01T00:00:00Z.
+//     Timestamp timestamp;
+//     timestamp.set_seconds((INT64) ((ticks / 10000000) - 11644473600LL));
+//     timestamp.set_nanos((INT32) ((ticks % 10000000) * 100));
+//
+// Example 4: Compute Timestamp from Java `System.currentTimeMillis()`.
+//
+//     long millis = System.currentTimeMillis();
+//
+//     Timestamp timestamp = Timestamp.newBuilder().setSeconds(millis / 1000)
+//         .setNanos((int) ((millis % 1000) * 1000000)).build();
+//
+//
+// Example 5: Compute Timestamp from current time in Python.
+//
+//     timestamp = Timestamp()
+//     timestamp.GetCurrentTime()
+//
+// # JSON Mapping
+//
+// In JSON format, the Timestamp type is encoded as a string in the
+// [RFC 3339](https://www.ietf.org/rfc/rfc3339.txt) format. That is, the
+// format is "{year}-{month}-{day}T{hour}:{min}:{sec}[.{frac_sec}]Z"
+// where {year} is always expressed using four digits while {month}, {day},
+// {hour}, {min}, and {sec} are zero-padded to two digits each. The fractional
+// seconds, which can go up to 9 digits (i.e. up to 1 nanosecond resolution),
+// are optional. The "Z" suffix indicates the timezone ("UTC"); the timezone
+// is required. A proto3 JSON serializer should always use UTC (as indicated by
+// "Z") when printing the Timestamp type and a proto3 JSON parser should be
+// able to accept both UTC and other timezones (as indicated by an offset).
+//
+// For example, "2017-01-15T01:30:15.01Z" encodes 15.01 seconds past
+// 01:30 UTC on January 15, 2017.
+//
+// In JavaScript, one can convert a Date object to this format using the
+// standard
+// [toISOString()](https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/Date/toISOString)
+// method. In Python, a standard `datetime.datetime` object can be converted
+// to this format using
+// [`strftime`](https://docs.python.org/2/library/time.html#time.strftime) with
+// the time format spec '%Y-%m-%dT%H:%M:%S.%fZ'. Likewise, in Java, one can use
+// the Joda Time's [`ISODateTimeFormat.dateTime()`](
+// http://www.joda.org/joda-time/apidocs/org/joda/time/format/ISODateTimeFormat.html#dateTime%2D%2D
+// ) to obtain a formatter capable of generating timestamps in this format.
+//
+//
+message Timestamp {
+  // Represents seconds of UTC time since Unix epoch
+  // 1970-01-01T00:00:00Z. Must be from 0001-01-01T00:00:00Z to
+  // 9999-12-31T23:59:59Z inclusive.
+  int64 seconds = 1;
+
+  // Non-negative fractions of a second at nanosecond resolution. Negative
+  // second values with fractions must still have non-negative nanos values
+  // that count forward in time. Must be from 0 to 999,999,999
+  // inclusive.
+  int32 nanos = 2;
+}
diff --git a/vendor/modules.txt b/vendor/modules.txt
index eb7b040..da819ea 100644
--- a/vendor/modules.txt
+++ b/vendor/modules.txt
@@ -1,16 +1,15 @@
-# github.com/cyrilix/robocar-base v0.0.0-20200101163959-0a3e47f0016b
+# github.com/cyrilix/robocar-base v0.1.0
 github.com/cyrilix/robocar-base/cli
-github.com/cyrilix/robocar-base/mqttdevice
 github.com/cyrilix/robocar-base/service
 github.com/cyrilix/robocar-base/testtools
-github.com/cyrilix/robocar-base/types
-# github.com/cyrilix/robocar-protobuf/go v0.0.0-20200101000356-accf7184079a
+# github.com/cyrilix/robocar-protobuf/go v1.0.0
 github.com/cyrilix/robocar-protobuf/go/events
 # github.com/eclipse/paho.mqtt.golang v1.2.0
 github.com/eclipse/paho.mqtt.golang
 github.com/eclipse/paho.mqtt.golang/packets
-# github.com/golang/protobuf v1.3.2
+# github.com/golang/protobuf v1.3.4
 github.com/golang/protobuf/proto
+github.com/golang/protobuf/ptypes/timestamp
 # github.com/konsorten/go-windows-terminal-sequences v1.0.2
 github.com/konsorten/go-windows-terminal-sequences
 # github.com/sirupsen/logrus v1.4.2