Hello Nzebro,
I like the idea of combining the productivity of PYNQ and Python with the performance of C++. Unfortunately, we don’t have any C++ APIs that you can use to do this directly, but it is something that we have considered in the past. We have some examples where we use pybind11 with DPU-PYNQ that you might be able to take some inspiration from (https://github.com/Xilinx/DPU-PYNQ/blob/master/pynq_dpu/notebooks/dpu_resnet50_pybind11.ipynb).
Another thing that we have explored is using interactive C++ notebooks inside Jupyter labs. I wrote a blog about it a little while ago. (Interactive C++ on the Kria-SoM in Jupyter Lab - #2 by ralphjy)
In the blog there is a simple example of using PYNQ to configure a simple IP and then using mmap in the C++ notebook to interact with it. If you have a Kria-SoM device, there are also install scripts for setting everything up. However, we have not provided a flow for setting it up for other boards, but you might be able to recreate the environment following our steps.
All the best,
Shane