This repo has a nice pub/sub implementation based on capnp: https://github.com/commaai/cereal/blob/master/log.capnp https://github.com/commaai/cereal/blob/maste

This repo has a nice pub/sub implementation based on capnp: https://github.com/commaai/cereal/blob/master/log.capnp https://github.com/commaai/cereal/blob/master/log.capnp