I have this little lightly-tested library: https://github.com/tne-lab/rw-synchronizer. I'm not using it much currently but have played with it a lot while building extensions to Open Ephys. The idea being that as a reader, you get a "snapshot" of the last thing that was written, but it's really just one of several copies, and subsequent writes can happen on the other copies. So you never really modify the current data, just push newer versions of it. The cool thing is, if you know how many simultaneous readers you'll need ahead of time, all the allocation can be done upfront, so then if you have a real-time loop or something, all it needs to do is exchange pointers.
If I ever get around to it, the next thing I would do is allow any writer to also read the latest value, so it can use a transformation to create a new one. Maybe even do it automatically with copy-on-write semantics? On the other hand, I'm probably reinventing the wheel here...