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Kaitai Struct
Kaitai Struct: declarative language to generate binary data parsers in C++ / C# / Go / Java / JavaScript / Lua / Nim / Perl / PHP / Python / Ruby
I'm aware there is Kaitai Struct which can handle binary parsing (deserializing). And I have some success previously with python Construct which can do both serialize & deserialize, but it's written in python.
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SaaSHub
SaaSHub - Software Alternatives and Reviews. SaaSHub helps you find the best software and product alternatives
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I have a library and tooling that using code generation will allow you to automatically generate serialization/deserialization to your custom binary format. It uses the visitor pattern and code generation for static reflection (eg iterating over fields of a struct). Check it out at https://github.com/jimmyorourke/reflecxx. Particularly it includes an automatic to/from json, which you could use as a starting point for how to write your own visitor.
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I wrote a library called binary_io, specifically for handling bespoke binary formats