All even messages now have curly brackets containing the comma separated data fields, for example the ir message is now:  “@R,e,3,{100,200,300}\n”

Services with more than one sub-field for each instance (for example the encoder service)separate two or more data sub-fields with a colon. For example, this is an encoder message where the  counts are 110 & 120, pulses are 3000 & 3100):
  “@E.e,2{,3000:110,3100:120}\n”

Added Service name to the service list message, for example:
@I,s,20,{@:?,@:?,E:Encoders,E:Encoders,E:Encoders,B:Bump Sensors,B:Bump Sensors,E:Encoders,M:Motors,M:Motors,M:Motors,M:Motors,M:Motors,M:Motors,R:Reflectance Sensors,R:Reflectance Sensors,R:Reflectance Sensors,R:Reflectance Sensors,I:ASIP core IO,D:Distance}