Is there a dtls library that you recommended?
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You might take a look at OpenSSL. It handles both TLS and DTLS protocols.
To get an example, you might also want to look at the source code of OpenVPN.
I implemented a C++ abstraction layer for both TLS/DTLS using these sources.
Anyway, you’ll have to be very patient since OpenSSL API is spread across multiple sources and doesn’t provide an effecient way to “search” for a particular function or structure.