There are two possible data formats - text or binary. Default is a text format - that means, so there is only server <-> client encoding transformation (or nothing when client and server use same encoding). Text format is very simple - trivial - all result data is transformed to human readable text and it is send to client. Binary data like bytea are transformed to human readable text too - hex or Base64 encoding are used. Output is simple. There is nothing to describing in doc
postgres=# select current_date;
date
────────────
2013-10-27
(1 row)
In this case - server send string "2013-10-27" to client. First four bytes is length, others bytes are data.
Little bit difficult is input, because you can separate a data from queries - depends on what API you use. So if you use most simple API - then Postgres expect SQL statement with data together. Some complex API expected SQL statement and data separately.
On second hand a using of binary format is significantly difficult due wide different specific formats for any data type. Any PostgreSQL data type has a two functions - send and recv. These functions are used for sending data to output message stream and reading data from input message stream. Similar functions are for casting to/from plain text (out/in functions). Some clients drivers are able to cast from PostgreSQL binary format to host binary formats.
Some information:
- libpq API http://www.postgresql.org/docs/9.3/static/libpq.html
- you can look to PostgreSQL src to send/recv and out/in function - look on bytea or date implementation src/backend/utils/adt/date.c. Implementation of libpq is interesting too src/interfaces/libpq -