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Upvote for msgpack, one of the great undervalued message protocols available.
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Well, instead of using full GRPC, you could use ProtoBuf. Any "binary" protocol will be faster to parse than JSON, if performance is your biggest factor, you can find benchmarks comparing the different formats.
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InfluxDB
Access the most powerful time series database as a service. Ingest, store, & analyze all types of time series data in a fully-managed, purpose-built database. Keep data forever with low-cost storage and superior data compression.
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The most efficient option is to send the type separately. I wrote and use sijsop for this, if you want something off-the-shelf.
NOTE:
The number of mentions on this list indicates mentions on common posts plus user suggested alternatives.
Hence, a higher number means a more popular project.