I’m about to start a project where four Arduinos will be talking to each other every other minute and also to a central server ~100 times a second and haven’t really found a satisfactory way to handle the communication. Had been hoping to use ZeroMQ as I have some experience with that but it looks like there are no Arduino compatible libraries available.

However, this looks just like the thing I’ve been looking for. Serial communication and TCP and CRC checking!