> ## Documentation Index
> Fetch the complete documentation index at: https://docs.cyberwave.com/llms.txt
> Use this file to discover all available pages before exploring further.

# C++ SDK

> Programmatically control your robots and simulations using our comprehensive C++ SDK

## Status

This page is a **stub** and will be expanded with complete examples.

## Current Coverage

* The C++ SDK now mirrors the regenerated REST surface for canonical environment export downloads, scene composed-schema fetches, environment previews, asset universal-schema rebuilds, workflow slug lookups, and twin universal-schema helpers.
* Twin latest-frame calls now follow Python-style source resolution: simulation defaults to `source_type=sim`, while live mode omits the query unless the caller explicitly requests a compatible frame source.
* `Client::twin()` now covers the main quickstart path for fetching by twin UUID or resolving an asset registry id / alias into a reusable twin, and it can auto-bootstrap a default workspace/project/environment context when none is configured yet.
* Regular C++ `Twin` handles now expose the core capability helpers directly for locomotion, gripper, flight, and streaming workflows, so the main client and manager paths no longer stop at a base-only twin surface.
* `Client::affect()` now matches Python's runtime-mode defaults end to end: simulation uses `sim` for REST/frame reads, `sim_tele` for control MQTT writes, live modes reset the default `source_type` back to `edge`, and switching modes disconnects the active MQTT client so it can reconnect with fresh runtime settings.
* `AssetManager::upload_glb()` now mirrors Python's large-file behavior by switching oversized GLBs to the attachment signed-upload flow and retrying there automatically after payload-too-large direct uploads.
* MQTT config supports topic prefixes, MQTT v5 selection, runtime-mode-aware client IDs, client-side event publishing helpers, and workflow-run status subscriptions on `cyberwave/workflow-run/{uuid}/status`.
* `CameraStreamer` supports a `set_recording(bool)` flag that is sent as part of the WebRTC offer to the media service SFU. When `true`, the SFU records the stream to MP4. Defaults to `false`; drivers should enable it per-stream as needed (see [Go2 stream recording](/hardware/go2/ros2-driver#stream-recording)).
* A first `DataBus` milestone is now available with canonical wire-format helpers, validated data-key builders, a filesystem backend, and JSON / bytes / ndarray roundtrips for local development.
* Worker parity now includes a hook-registration surface plus a first manifest schema / dispatch-mode helper, ready for a later runtime layer.