[DanielHB]

It is really hard, especially given you have to optimize for the lowest common denominator. For us it was a 512kb RAM microcontroller, we had to go to procurement to expand it to 2MB RAM and they were not happy about that.

On the other hand it was nice being able to just import a library into your code and JUST SEND A FREAKING MESSAGE without having to deal with thousands of lines of code that were last changed 3 years ago and nobody knows how it works. The scrutiny on the code quality of the common protocol was much higher and therefor much more pleasant to use and troubleshoot.

All the encoders and decoders of messages used the same code in all the parts of the stack (technically 2 implementations, one in Go and one in C)