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If this is the case, for the third stage of the application specific protocol handling I recommend CommsChampion Ecosystem.
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If you want a fairly low level pub/sub like messaging over TCP, take a look at the tcp_pubsub library. It basically does what you're looking for.
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InfluxDB
Power Real-Time Data Analytics at Scale. Get real-time insights from all types of time series data with InfluxDB. Ingest, query, and analyze billions of data points in real-time with unbounded cardinality.
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Just check copying file in source repo https://github.com/zeromq/libzmq
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GameNetworkingSockets
Reliable & unreliable messages over UDP. Robust message fragmentation & reassembly. P2P networking / NAT traversal. Encryption.
You can also try Valve's GameNetworkingSockets with a serialization of your choice.
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For me personally, I've been using MQTT alot with Paho MQTT C++