Communication between modules and DreamView

[chiragr15]

I wanted to know how the different modules(Routing,Localization,Planning) communicate the output to DreamView.

Is it through an API call?
I understand that the output of the modules are packed into protocol buffers, but how are these sent to DreamView ?

[YuqiHuai]

I believe it is done through CyberRT. All modules publish their output to a channel in CyberRT, then Dreamview's backend looks at those messages and communicates with front-end through socket.

Output of the modules can be viewed using cyber_monitor.