Andy Piper / vFabric Team published an article in 2013 about three popular protocols for message broker client/server communication: Choosing Your Messaging Protocol: AMQP, MQTT, or STOMP. The STOMP specification (currently at 1.2) can be found here. For Delphi and Free Pascal developers, Habarisoft offers STOMP client libraries designed for and tested with popular open source message brokers.
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