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If you know the datatype(s) ahead of time you can make it happen without too much problem.

In Python if you do not know the datatypes you can attempt to import the modules at run time. There have also been demonstrations of dynamic code generation based on the message definition passed during the connection negotiation. The latter approach is more generic but you will have to dig deep inside the modules away from the supported API. The former has the limitation of only working if the messages are already generated on the receiving machine.

I would not recommend attempting this in c++