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libdatachannel
C/C++ WebRTC network library featuring Data Channels, Media Transport, and WebSockets
https://github.com/cjhdev/wic Almost ideal, but lacks thorough testing and has some perf issues
https://github.com/tatsuhiro-t/wslay A bit more battle tested, but lacks the initial http update flow
I recommend Crow, it's a web framework that supports HTTP and Websockets. It's a bit larger than being only there to just let you compose or decode a packet. But I'm pretty sure everything you mentioned is there already :)
I kind of did that to create my own library (server only): https://github.com/osen/libws/tree/master/src/ws
https://github.com/paullouisageneau/libdatachannel ?