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Lightweight implementation of msgpack for arduino with streaming and COBS support

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When calling the `readString` functions, I have to magically know how big the string buffer needs to be. There appears to be no way to check this ahead of time....

Hi, and thanks for making this library available. I notice that `writeMapSize(Stream&, const uint8_t)` checks if the value exceeds `1

Hello, I noticed that [msgpack-arduino](https://github.com/elliotwoods/msgpack-arduino) is available using [PlatformIO](http://platformio.org/) as it have a `library.json` and is available at https://platformio.org/lib/show/5646/msgpack-arduino/ but it will be nice if msgpack-arduino could be added to...