Below you can download documentation about MOOS. You should definitely look at the MOOS V10 Tutorial - it is has a real focus on the communications API.
This site is about V10 of MOOS in particular the software which handles interprocess communications. 95 % of the changes between V10 and the previous versions are to do with its core functionality - in particular the communications facilities and the classes it provides which make writing communicating applications simple, lightweight and fast.So if you are already a MOOS user, we suggest you download the Using MOOSV10 document in the table below.
You can read about that on this page