diff --git a/go.mod b/go.mod
index 7583fbd..e3864b8 100644
--- a/go.mod
+++ b/go.mod
@@ -4,12 +4,13 @@ go 1.17
 
 require (
 	github.com/avast/retry-go v3.0.0+incompatible
-	github.com/cyrilix/robocar-base v0.1.5
-	github.com/cyrilix/robocar-protobuf/go v1.0.3
+	github.com/cyrilix/robocar-base v0.1.6
+	github.com/cyrilix/robocar-protobuf/go v1.0.4
 	github.com/disintegration/imaging v1.6.2
 	github.com/eclipse/paho.mqtt.golang v1.3.5
 	github.com/golang/protobuf v1.5.2
 	go.uber.org/zap v1.19.1
+	google.golang.org/protobuf v1.27.1
 )
 
 require (
@@ -18,5 +19,4 @@ require (
 	go.uber.org/multierr v1.6.0 // indirect
 	golang.org/x/image v0.0.0-20191009234506-e7c1f5e7dbb8 // indirect
 	golang.org/x/net v0.0.0-20210405180319-a5a99cb37ef4 // indirect
-	google.golang.org/protobuf v1.26.0 // indirect
 )
diff --git a/go.sum b/go.sum
index ac1e7af..6d3d5dd 100644
--- a/go.sum
+++ b/go.sum
@@ -10,10 +10,10 @@ github.com/cenkalti/backoff v2.2.1+incompatible/go.mod h1:90ReRw6GdpyfrHakVjL/QH
 github.com/client9/misspell v0.3.4/go.mod h1:qj6jICC3Q7zFZvVWo7KLAzC3yx5G7kyvSDkc90ppPyw=
 github.com/containerd/containerd v1.4.1/go.mod h1:bC6axHOhabU15QhwfG7w5PipXdVtMXFTttgp+kVtyUA=
 github.com/containerd/continuity v0.0.0-20190426062206-aaeac12a7ffc/go.mod h1:GL3xCUCBDV3CZiTSEKksMWbLE66hEyuu9qyDOOqM47Y=
-github.com/cyrilix/robocar-base v0.1.5 h1:EfbYHB69hgyQCVuzZ9/ifdSrQfXS7+04M8O9BDu1/5w=
-github.com/cyrilix/robocar-base v0.1.5/go.mod h1:tb7R5OFoBn9EWNLX3Kzx6R/3cQ9/7r8XsHvlLSESOAM=
-github.com/cyrilix/robocar-protobuf/go v1.0.3 h1:iPHw2+7FVXG2C4+Th1m11hQ+2RpAQzlxKhc5M7XOa6Q=
-github.com/cyrilix/robocar-protobuf/go v1.0.3/go.mod h1:xb95cK07lYXnKcHZKnGafmAgYRrqZWZgV9LMiJAp+gE=
+github.com/cyrilix/robocar-base v0.1.6 h1:VVcSZD8DPsha3XDLxRBMvtcd6uC8CcIjqbxG482dxvo=
+github.com/cyrilix/robocar-base v0.1.6/go.mod h1:m5ov/7hpRHi0yMp2prKafL6UEsM2O71Uea85WR0/jjI=
+github.com/cyrilix/robocar-protobuf/go v1.0.4 h1:XTolFYbiKw4gQ2l+z/LMZkLrmAUMzlHcQBzp/czlANo=
+github.com/cyrilix/robocar-protobuf/go v1.0.4/go.mod h1:1fyGMVm4ZodfYRrbWCEQgtvKyvrhyTBe5zA7/Qeh/H0=
 github.com/davecgh/go-spew v1.1.0/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
 github.com/davecgh/go-spew v1.1.1 h1:vj9j/u1bqnvCEfJOwUhtlOARqs3+rkHYY13jYWTU97c=
 github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
@@ -149,8 +149,9 @@ google.golang.org/appengine v1.1.0/go.mod h1:EbEs0AVv82hx2wNQdGPgUI5lhzA/G0D9Ywl
 google.golang.org/genproto v0.0.0-20180817151627-c66870c02cf8/go.mod h1:JiN7NxoALGmiZfu7CAH4rXhgtRTLTxftemlI0sWmxmc=
 google.golang.org/grpc v1.17.0/go.mod h1:6QZJwpn2B+Zp71q/5VxRsJ6NXXVCE5NRUHRo+f3cWCs=
 google.golang.org/protobuf v1.26.0-rc.1/go.mod h1:jlhhOSvTdKEhbULTjvd4ARK9grFBp09yW+WbY/TyQbw=
-google.golang.org/protobuf v1.26.0 h1:bxAC2xTBsZGibn2RTntX0oH50xLsqy1OxA9tTL3p/lk=
 google.golang.org/protobuf v1.26.0/go.mod h1:9q0QmTI4eRPtz6boOQmLYwt+qCgq0jsYwAQnmE0givc=
+google.golang.org/protobuf v1.27.1 h1:SnqbnDw1V7RiZcXPx5MEeqPv2s79L9i7BJUlG/+RurQ=
+google.golang.org/protobuf v1.27.1/go.mod h1:9q0QmTI4eRPtz6boOQmLYwt+qCgq0jsYwAQnmE0givc=
 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=
diff --git a/pkg/events/events.go b/pkg/events/events.go
index a31ca43..c54f447 100644
--- a/pkg/events/events.go
+++ b/pkg/events/events.go
@@ -4,8 +4,8 @@ import (
 	"fmt"
 	"github.com/cyrilix/robocar-simulator/pkg/gateway"
 	mqtt "github.com/eclipse/paho.mqtt.golang"
-	"github.com/golang/protobuf/proto"
 	"go.uber.org/zap"
+	"google.golang.org/protobuf/proto"
 	"sync"
 	"time"
 )
diff --git a/pkg/events/events_test.go b/pkg/events/events_test.go
index f8968f9..e0e64a2 100644
--- a/pkg/events/events_test.go
+++ b/pkg/events/events_test.go
@@ -3,8 +3,8 @@ package events
 import (
 	"fmt"
 	"github.com/cyrilix/robocar-protobuf/go/events"
-	"github.com/golang/protobuf/proto"
 	"github.com/golang/protobuf/ptypes/timestamp"
+	"google.golang.org/protobuf/proto"
 	"testing"
 	"time"
 )
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 b5e1bb2..7e53812 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
@@ -1,6 +1,6 @@
 // Code generated by protoc-gen-go. DO NOT EDIT.
 // versions:
-// 	protoc-gen-go v1.26.0
+// 	protoc-gen-go v1.27.1
 // 	protoc        v3.12.4
 // source: events/events.proto
 
diff --git a/vendor/google.golang.org/protobuf/encoding/prototext/decode.go b/vendor/google.golang.org/protobuf/encoding/prototext/decode.go
index 8fb1d9e..179d6e8 100644
--- a/vendor/google.golang.org/protobuf/encoding/prototext/decode.go
+++ b/vendor/google.golang.org/protobuf/encoding/prototext/decode.go
@@ -744,9 +744,6 @@ func (d decoder) skipValue() error {
 				// Skip items. This will not validate whether skipped values are
 				// of the same type or not, same behavior as C++
 				// TextFormat::Parser::AllowUnknownField(true) version 3.8.0.
-				if err := d.skipValue(); err != nil {
-					return err
-				}
 			}
 		}
 	}
diff --git a/vendor/google.golang.org/protobuf/internal/encoding/text/encode.go b/vendor/google.golang.org/protobuf/internal/encoding/text/encode.go
index aa66bdd..da289cc 100644
--- a/vendor/google.golang.org/protobuf/internal/encoding/text/encode.go
+++ b/vendor/google.golang.org/protobuf/internal/encoding/text/encode.go
@@ -263,3 +263,8 @@ func (e *Encoder) Snapshot() encoderState {
 func (e *Encoder) Reset(es encoderState) {
 	e.encoderState = es
 }
+
+// AppendString appends the escaped form of the input string to b.
+func AppendString(b []byte, s string) []byte {
+	return appendString(b, s, false)
+}
diff --git a/vendor/google.golang.org/protobuf/internal/impl/legacy_message.go b/vendor/google.golang.org/protobuf/internal/impl/legacy_message.go
index 3759b01..029feee 100644
--- a/vendor/google.golang.org/protobuf/internal/impl/legacy_message.go
+++ b/vendor/google.golang.org/protobuf/internal/impl/legacy_message.go
@@ -440,6 +440,13 @@ func legacyMerge(in piface.MergeInput) piface.MergeOutput {
 	if !ok {
 		return piface.MergeOutput{}
 	}
+	if !in.Source.IsValid() {
+		// Legacy Marshal methods may not function on nil messages.
+		// Check for a typed nil source only after we confirm that
+		// legacy Marshal/Unmarshal methods are present, for
+		// consistency.
+		return piface.MergeOutput{Flags: piface.MergeComplete}
+	}
 	b, err := marshaler.Marshal()
 	if err != nil {
 		return piface.MergeOutput{}
diff --git a/vendor/google.golang.org/protobuf/internal/version/version.go b/vendor/google.golang.org/protobuf/internal/version/version.go
index 5879131..14e774f 100644
--- a/vendor/google.golang.org/protobuf/internal/version/version.go
+++ b/vendor/google.golang.org/protobuf/internal/version/version.go
@@ -52,8 +52,8 @@ import (
 //	10. Send out the CL for review and submit it.
 const (
 	Major      = 1
-	Minor      = 26
-	Patch      = 0
+	Minor      = 27
+	Patch      = 1
 	PreRelease = ""
 )
 
diff --git a/vendor/google.golang.org/protobuf/reflect/protoregistry/registry.go b/vendor/google.golang.org/protobuf/reflect/protoregistry/registry.go
index 66dcbcd..59f024c 100644
--- a/vendor/google.golang.org/protobuf/reflect/protoregistry/registry.go
+++ b/vendor/google.golang.org/protobuf/reflect/protoregistry/registry.go
@@ -94,7 +94,8 @@ type Files struct {
 	// Note that enum values are in the top-level since that are in the same
 	// scope as the parent enum.
 	descsByName map[protoreflect.FullName]interface{}
-	filesByPath map[string]protoreflect.FileDescriptor
+	filesByPath map[string][]protoreflect.FileDescriptor
+	numFiles    int
 }
 
 type packageDescriptor struct {
@@ -117,17 +118,16 @@ func (r *Files) RegisterFile(file protoreflect.FileDescriptor) error {
 		r.descsByName = map[protoreflect.FullName]interface{}{
 			"": &packageDescriptor{},
 		}
-		r.filesByPath = make(map[string]protoreflect.FileDescriptor)
+		r.filesByPath = make(map[string][]protoreflect.FileDescriptor)
 	}
 	path := file.Path()
-	if prev := r.filesByPath[path]; prev != nil {
+	if prev := r.filesByPath[path]; len(prev) > 0 {
 		r.checkGenProtoConflict(path)
 		err := errors.New("file %q is already registered", file.Path())
-		err = amendErrorWithCaller(err, prev, file)
-		if r == GlobalFiles && ignoreConflict(file, err) {
-			err = nil
+		err = amendErrorWithCaller(err, prev[0], file)
+		if !(r == GlobalFiles && ignoreConflict(file, err)) {
+			return err
 		}
-		return err
 	}
 
 	for name := file.Package(); name != ""; name = name.Parent() {
@@ -168,7 +168,8 @@ func (r *Files) RegisterFile(file protoreflect.FileDescriptor) error {
 	rangeTopLevelDescriptors(file, func(d protoreflect.Descriptor) {
 		r.descsByName[d.FullName()] = d
 	})
-	r.filesByPath[path] = file
+	r.filesByPath[path] = append(r.filesByPath[path], file)
+	r.numFiles++
 	return nil
 }
 
@@ -308,6 +309,7 @@ func (s *nameSuffix) Pop() (name protoreflect.Name) {
 // FindFileByPath looks up a file by the path.
 //
 // This returns (nil, NotFound) if not found.
+// This returns an error if multiple files have the same path.
 func (r *Files) FindFileByPath(path string) (protoreflect.FileDescriptor, error) {
 	if r == nil {
 		return nil, NotFound
@@ -316,13 +318,19 @@ func (r *Files) FindFileByPath(path string) (protoreflect.FileDescriptor, error)
 		globalMutex.RLock()
 		defer globalMutex.RUnlock()
 	}
-	if fd, ok := r.filesByPath[path]; ok {
-		return fd, nil
+	fds := r.filesByPath[path]
+	switch len(fds) {
+	case 0:
+		return nil, NotFound
+	case 1:
+		return fds[0], nil
+	default:
+		return nil, errors.New("multiple files named %q", path)
 	}
-	return nil, NotFound
 }
 
-// NumFiles reports the number of registered files.
+// NumFiles reports the number of registered files,
+// including duplicate files with the same name.
 func (r *Files) NumFiles() int {
 	if r == nil {
 		return 0
@@ -331,10 +339,11 @@ func (r *Files) NumFiles() int {
 		globalMutex.RLock()
 		defer globalMutex.RUnlock()
 	}
-	return len(r.filesByPath)
+	return r.numFiles
 }
 
 // RangeFiles iterates over all registered files while f returns true.
+// If multiple files have the same name, RangeFiles iterates over all of them.
 // The iteration order is undefined.
 func (r *Files) RangeFiles(f func(protoreflect.FileDescriptor) bool) {
 	if r == nil {
@@ -344,9 +353,11 @@ func (r *Files) RangeFiles(f func(protoreflect.FileDescriptor) bool) {
 		globalMutex.RLock()
 		defer globalMutex.RUnlock()
 	}
-	for _, file := range r.filesByPath {
-		if !f(file) {
-			return
+	for _, files := range r.filesByPath {
+		for _, file := range files {
+			if !f(file) {
+				return
+			}
 		}
 	}
 }
diff --git a/vendor/google.golang.org/protobuf/types/descriptorpb/descriptor.pb.go b/vendor/google.golang.org/protobuf/types/descriptorpb/descriptor.pb.go
index f77239f..abe4ab5 100644
--- a/vendor/google.golang.org/protobuf/types/descriptorpb/descriptor.pb.go
+++ b/vendor/google.golang.org/protobuf/types/descriptorpb/descriptor.pb.go
@@ -43,7 +43,6 @@ package descriptorpb
 
 import (
 	protoreflect "google.golang.org/protobuf/reflect/protoreflect"
-	protoiface "google.golang.org/protobuf/runtime/protoiface"
 	protoimpl "google.golang.org/protobuf/runtime/protoimpl"
 	reflect "reflect"
 	sync "sync"
@@ -829,15 +828,6 @@ func (*ExtensionRangeOptions) Descriptor() ([]byte, []int) {
 	return file_google_protobuf_descriptor_proto_rawDescGZIP(), []int{3}
 }
 
-var extRange_ExtensionRangeOptions = []protoiface.ExtensionRangeV1{
-	{Start: 1000, End: 536870911},
-}
-
-// Deprecated: Use ExtensionRangeOptions.ProtoReflect.Descriptor.ExtensionRanges instead.
-func (*ExtensionRangeOptions) ExtensionRangeArray() []protoiface.ExtensionRangeV1 {
-	return extRange_ExtensionRangeOptions
-}
-
 func (x *ExtensionRangeOptions) GetUninterpretedOption() []*UninterpretedOption {
 	if x != nil {
 		return x.UninterpretedOption
@@ -1520,15 +1510,6 @@ func (*FileOptions) Descriptor() ([]byte, []int) {
 	return file_google_protobuf_descriptor_proto_rawDescGZIP(), []int{10}
 }
 
-var extRange_FileOptions = []protoiface.ExtensionRangeV1{
-	{Start: 1000, End: 536870911},
-}
-
-// Deprecated: Use FileOptions.ProtoReflect.Descriptor.ExtensionRanges instead.
-func (*FileOptions) ExtensionRangeArray() []protoiface.ExtensionRangeV1 {
-	return extRange_FileOptions
-}
-
 func (x *FileOptions) GetJavaPackage() string {
 	if x != nil && x.JavaPackage != nil {
 		return *x.JavaPackage
@@ -1776,15 +1757,6 @@ func (*MessageOptions) Descriptor() ([]byte, []int) {
 	return file_google_protobuf_descriptor_proto_rawDescGZIP(), []int{11}
 }
 
-var extRange_MessageOptions = []protoiface.ExtensionRangeV1{
-	{Start: 1000, End: 536870911},
-}
-
-// Deprecated: Use MessageOptions.ProtoReflect.Descriptor.ExtensionRanges instead.
-func (*MessageOptions) ExtensionRangeArray() []protoiface.ExtensionRangeV1 {
-	return extRange_MessageOptions
-}
-
 func (x *MessageOptions) GetMessageSetWireFormat() bool {
 	if x != nil && x.MessageSetWireFormat != nil {
 		return *x.MessageSetWireFormat
@@ -1930,15 +1902,6 @@ func (*FieldOptions) Descriptor() ([]byte, []int) {
 	return file_google_protobuf_descriptor_proto_rawDescGZIP(), []int{12}
 }
 
-var extRange_FieldOptions = []protoiface.ExtensionRangeV1{
-	{Start: 1000, End: 536870911},
-}
-
-// Deprecated: Use FieldOptions.ProtoReflect.Descriptor.ExtensionRanges instead.
-func (*FieldOptions) ExtensionRangeArray() []protoiface.ExtensionRangeV1 {
-	return extRange_FieldOptions
-}
-
 func (x *FieldOptions) GetCtype() FieldOptions_CType {
 	if x != nil && x.Ctype != nil {
 		return *x.Ctype
@@ -2030,15 +1993,6 @@ func (*OneofOptions) Descriptor() ([]byte, []int) {
 	return file_google_protobuf_descriptor_proto_rawDescGZIP(), []int{13}
 }
 
-var extRange_OneofOptions = []protoiface.ExtensionRangeV1{
-	{Start: 1000, End: 536870911},
-}
-
-// Deprecated: Use OneofOptions.ProtoReflect.Descriptor.ExtensionRanges instead.
-func (*OneofOptions) ExtensionRangeArray() []protoiface.ExtensionRangeV1 {
-	return extRange_OneofOptions
-}
-
 func (x *OneofOptions) GetUninterpretedOption() []*UninterpretedOption {
 	if x != nil {
 		return x.UninterpretedOption
@@ -2101,15 +2055,6 @@ func (*EnumOptions) Descriptor() ([]byte, []int) {
 	return file_google_protobuf_descriptor_proto_rawDescGZIP(), []int{14}
 }
 
-var extRange_EnumOptions = []protoiface.ExtensionRangeV1{
-	{Start: 1000, End: 536870911},
-}
-
-// Deprecated: Use EnumOptions.ProtoReflect.Descriptor.ExtensionRanges instead.
-func (*EnumOptions) ExtensionRangeArray() []protoiface.ExtensionRangeV1 {
-	return extRange_EnumOptions
-}
-
 func (x *EnumOptions) GetAllowAlias() bool {
 	if x != nil && x.AllowAlias != nil {
 		return *x.AllowAlias
@@ -2183,15 +2128,6 @@ func (*EnumValueOptions) Descriptor() ([]byte, []int) {
 	return file_google_protobuf_descriptor_proto_rawDescGZIP(), []int{15}
 }
 
-var extRange_EnumValueOptions = []protoiface.ExtensionRangeV1{
-	{Start: 1000, End: 536870911},
-}
-
-// Deprecated: Use EnumValueOptions.ProtoReflect.Descriptor.ExtensionRanges instead.
-func (*EnumValueOptions) ExtensionRangeArray() []protoiface.ExtensionRangeV1 {
-	return extRange_EnumValueOptions
-}
-
 func (x *EnumValueOptions) GetDeprecated() bool {
 	if x != nil && x.Deprecated != nil {
 		return *x.Deprecated
@@ -2258,15 +2194,6 @@ func (*ServiceOptions) Descriptor() ([]byte, []int) {
 	return file_google_protobuf_descriptor_proto_rawDescGZIP(), []int{16}
 }
 
-var extRange_ServiceOptions = []protoiface.ExtensionRangeV1{
-	{Start: 1000, End: 536870911},
-}
-
-// Deprecated: Use ServiceOptions.ProtoReflect.Descriptor.ExtensionRanges instead.
-func (*ServiceOptions) ExtensionRangeArray() []protoiface.ExtensionRangeV1 {
-	return extRange_ServiceOptions
-}
-
 func (x *ServiceOptions) GetDeprecated() bool {
 	if x != nil && x.Deprecated != nil {
 		return *x.Deprecated
@@ -2335,15 +2262,6 @@ func (*MethodOptions) Descriptor() ([]byte, []int) {
 	return file_google_protobuf_descriptor_proto_rawDescGZIP(), []int{17}
 }
 
-var extRange_MethodOptions = []protoiface.ExtensionRangeV1{
-	{Start: 1000, End: 536870911},
-}
-
-// Deprecated: Use MethodOptions.ProtoReflect.Descriptor.ExtensionRanges instead.
-func (*MethodOptions) ExtensionRangeArray() []protoiface.ExtensionRangeV1 {
-	return extRange_MethodOptions
-}
-
 func (x *MethodOptions) GetDeprecated() bool {
 	if x != nil && x.Deprecated != nil {
 		return *x.Deprecated
diff --git a/vendor/modules.txt b/vendor/modules.txt
index 306db2c..df33243 100644
--- a/vendor/modules.txt
+++ b/vendor/modules.txt
@@ -1,11 +1,11 @@
 # github.com/avast/retry-go v3.0.0+incompatible
 ## explicit
 github.com/avast/retry-go
-# github.com/cyrilix/robocar-base v0.1.5
+# github.com/cyrilix/robocar-base v0.1.6
 ## explicit; go 1.17
 github.com/cyrilix/robocar-base/cli
 github.com/cyrilix/robocar-base/service
-# github.com/cyrilix/robocar-protobuf/go v1.0.3
+# github.com/cyrilix/robocar-protobuf/go v1.0.4
 ## explicit; go 1.17
 github.com/cyrilix/robocar-protobuf/go/events
 # github.com/disintegration/imaging v1.6.2
@@ -46,7 +46,7 @@ golang.org/x/image/tiff/lzw
 ## explicit; go 1.11
 golang.org/x/net/internal/socks
 golang.org/x/net/proxy
-# google.golang.org/protobuf v1.26.0
+# google.golang.org/protobuf v1.27.1
 ## explicit; go 1.9
 google.golang.org/protobuf/encoding/prototext
 google.golang.org/protobuf/encoding/protowire