Always exciting to see more innovation in the robotics middleware space!

Do you have a zero copy/serialization way that nodes can output messages back to their own input?

For example I have always thought that full determinism would be much easier to achieve if all nodes were purely functional/stateless, and if they want to accumulate data over multiple messages they must do so by explicitly outputting that state back to themselves.

This would mean that all state can be logged (if necessary), and therefore resimulation tests could start with a single tick, rather than needing to play back several seconds of data because there is no way to reason about what local state nodes might be maintaining.