C/C++ libraries and helper classess

Hi All,
Are there any libraries or helper classes in C++/C like pymavlink and dronekit in python ?
For example in pymavlink there is connect function which handle the connection between the vehicle and the project and there is function to handle the message. Shall I do all that (like using sockets to make the connection and … in C++/C) or there is similar libraries to pymavlink/dronekit?
I could not find anything.
Thank you

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Hello,
In C++ you have libmavconn : https://github.com/mavlink/mavros/blob/master/libmavconn/README.md or https://github.com/mavlink/c_library_v2

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