Expose raw wrench counts

.github/workflows/release.yml

@@ -37,6 +37,11 @@ jobs:
             echo "tag version $version does not match CMake version $cmake_version" >&2
             exit 1
           fi
+          pixi_version="$(sed -nE 's/^version = "([0-9]+\.[0-9]+\.[0-9]+)"$/\1/p' pixi.toml)"
+          if [[ "$version" != "$pixi_version" ]]; then
+            echo "tag version $version does not match Pixi version $pixi_version" >&2
+            exit 1
+          fi
           escaped_version="${version//./\\.}"
           if ! grep -Eq "^## ${escaped_version} - [0-9]{4}-[0-9]{2}-[0-9]{2}$" CHANGELOG.md; then
             echo "CHANGELOG.md has no dated release heading for $version" >&2

CHANGELOG.md

@@ -2,6 +2,16 @@
 
 All notable changes to this project are documented in this file.
 
+## 0.2.0 - 2026-07-24
+
+### Added
+
+- Expose the exact signed RDT axis counts on every `Sample` through `raw_wrench`, ordered as force X/Y/Z followed by torque X/Y/Z.
+
+### Changed
+
+- Advance the shared-library ABI for the expanded public `Sample` layout.
+
 ## 0.1.3 - 2026-07-23
 
 ### Fixed

CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.16)
 
-project(netft VERSION 0.1.3 LANGUAGES CXX)
+project(netft VERSION 0.2.0 LANGUAGES CXX)
 
 include(CTest)
 include(GNUInstallDirs)
@@ -42,7 +42,7 @@ target_compile_definitions(netft PRIVATE NETFT_BUILDING_LIBRARY)
 
 set_target_properties(netft PROPERTIES
   VERSION "${PROJECT_VERSION}"
-  SOVERSION 0
+  SOVERSION 1
   CXX_VISIBILITY_PRESET hidden
   VISIBILITY_INLINES_HIDDEN YES
 )
@@ -96,7 +96,7 @@ configure_package_config_file(
 write_basic_package_version_file(
   "${CMAKE_CURRENT_BINARY_DIR}/netftConfigVersion.cmake"
   VERSION "${PROJECT_VERSION}"
-  COMPATIBILITY SameMajorVersion
+  COMPATIBILITY SameMinorVersion
 )
 install(
   EXPORT netftTargets

README.md

@@ -71,7 +71,8 @@ int main() {
 
   netft::Client client{config};
   client.start([](const netft::Sample &sample) {
-    std::cout << sample.force[0] << ' ' << netft::to_string(sample.force_unit) << '\n';
+    std::cout << sample.raw_wrench[0] << ' ' << sample.force[0] << ' '
+              << netft::to_string(sample.force_unit) << '\n';
   });
   const bool received = client.wait_for_first_sample(std::chrono::seconds{2});
   client.stop();
@@ -107,9 +108,9 @@ failure, and `130` for interruption by `SIGINT`.
 Without a manual override, the client requests `http://HOST:HTTP_PORT/netftapi2.xml` before
 each streaming session and reads the product name, counts per force unit, counts per torque
 unit, force unit, and torque unit. Raw RDT counts are divided by those sensor-selected
-calibration scales. Every `Sample` carries the resulting `force_unit`, `torque_unit`, and
-configuration revision, and the active configuration is also available through
-`Client::health()`.
+calibration scales. Every `Sample` carries the exact signed RDT counts in `raw_wrench`, the calibrated `force`
+and `torque` values, the resulting `force_unit` and `torque_unit`, and the configuration
+revision. The active configuration is also available through `Client::health()`.
 
 Sample values therefore use the units selected by the sensor; the library does not silently
 convert them to a preferred unit system. In particular, do not assume that an ATI sensor's

include/netft/types.hpp

@@ -67,6 +67,7 @@ struct Config {
 
 struct Sample {
   std::uint32_t rdt_sequence{}, ft_sequence{}, status{};
+  std::array<std::int32_t, 6> raw_wrench{};
   std::array<double, 3> force{}, torque{};
   ForceUnit force_unit{ForceUnit::Unknown};
   TorqueUnit torque_unit{TorqueUnit::Unknown};

pixi.toml

@@ -1,6 +1,6 @@
 [workspace]
 name = "netft-cpp"
-version = "0.1.3"
+version = "0.2.0"
 channels = ["conda-forge"]
 platforms = ["linux-64", "linux-aarch64"]
 

src/detail/client_impl.cpp

@@ -624,6 +624,7 @@ Client::Impl::handle_record(const detail::RawRecord &record,
   sample.rdt_sequence = record.rdt_sequence;
   sample.ft_sequence = record.ft_sequence;
   sample.status = record.status;
+  sample.raw_wrench = {record.fx, record.fy, record.fz, record.tx, record.ty, record.tz};
   sample.force = {record.fx / calibration.counts_per_force_unit,
                   record.fy / calibration.counts_per_force_unit,
                   record.fz / calibration.counts_per_force_unit};

test/consumer/CMakeLists.txt

@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 
 project(netft_consumer LANGUAGES CXX)
 
-find_package(netft 0.1 CONFIG REQUIRED)
+find_package(netft 0.2 CONFIG REQUIRED)
 
 if(DEFINED NETFT_EXPECTED_INCLUDE_DIR)
   get_target_property(netft_include_dirs

test/install_test.sh

@@ -32,6 +32,8 @@ trap cleanup EXIT
 package_build="$test_root/package-build"
 prefix="$test_root/prefix"
 consumer_build="$test_root/consumer-build"
+incompatible_consumer_source="$test_root/incompatible-consumer"
+incompatible_consumer_build="$test_root/incompatible-consumer-build"
 install_include_dir="netft-headers"
 
 cmake_compiler_args=()
@@ -62,6 +64,24 @@ test -f "$prefix/lib/cmake/netft/netftConfig.cmake"
 test -f "$prefix/lib/cmake/netft/netftConfigVersion.cmake"
 test -f "$prefix/lib/cmake/netft/netftTargets.cmake"
 
+mkdir -p "$incompatible_consumer_source"
+printf '%s\n' \
+  'cmake_minimum_required(VERSION 3.16)' \
+  'project(netft_incompatible_consumer LANGUAGES CXX)' \
+  'if(NOT DEFINED NETFT_PROBE_PREFIX OR NETFT_PROBE_PREFIX STREQUAL "")' \
+  '  message(FATAL_ERROR "NETFT_PROBE_PREFIX must be defined and nonempty")' \
+  'endif()' \
+  'find_package(netft 0.1 CONFIG QUIET' \
+  '  PATHS "${NETFT_PROBE_PREFIX}" NO_DEFAULT_PATH)' \
+  'if(netft_FOUND)' \
+  '  message(FATAL_ERROR "netft 0.2 package accepted incompatible 0.1 request")' \
+  'endif()' \
+  >"$incompatible_consumer_source/CMakeLists.txt"
+cmake -S "$incompatible_consumer_source" \
+  -B "$incompatible_consumer_build" -G Ninja \
+  "${cmake_compiler_args[@]}" \
+  -DNETFT_PROBE_PREFIX="$prefix"
+
 if find "$prefix" -name '*netft_cli_lib*' -print -quit | grep -q .; then
   echo "private netft_cli_lib was installed" >&2
   exit 1
@@ -150,7 +170,7 @@ if [[ "$mode" == "shared" ]]; then
     LD_LIBRARY_PATH="$prefix/lib${LD_LIBRARY_PATH:+:$LD_LIBRARY_PATH}" \
       ldd "$prefix/bin/netft"
   )"
-  grep -Fq "$prefix/lib/libnetft.so.0" <<<"$cli_dependencies"
+  grep -Fq "$prefix/lib/libnetft.so.1" <<<"$cli_dependencies"
   if grep -Fq 'netft_cli_lib' <<<"$cli_dependencies"; then
     echo "$cli_dependencies" >&2
     exit 1

test/test_client_stream.cpp

@@ -96,7 +96,9 @@ TEST(ClientStream, ConvertsNativeUnitsAndPublishesLatestSample) {
   netft::test::FakeSensor sensor;
   sensor.pause();
   sensor.queue_record(1, 0, 100,
-                      {1'000'000, -2'000'000, 3'000'000, 1'000'000, -2'000'000, 3'000'000});
+                      {1'000'000, -2'000'000, 3'000'000, 4'000'000, -5'000'000, 6'000'000});
+  const std::array<std::int32_t, 6> expected_raw{1'000'000, -2'000'000, 3'000'000,
+                                                 4'000'000, -5'000'000, 6'000'000};
   netft::Client client{config_for(sensor)};
   std::mutex callback_mutex;
   std::optional<netft::Sample> callback_sample;
@@ -115,15 +117,17 @@ TEST(ClientStream, ConvertsNativeUnitsAndPublishesLatestSample) {
   ASSERT_TRUE(sample);
   EXPECT_EQ(sample->rdt_sequence, 1U);
   EXPECT_EQ(sample->ft_sequence, 100U);
+  EXPECT_EQ(sample->raw_wrench, expected_raw);
   EXPECT_EQ(sample->force, (std::array<double, 3>{1.0, -2.0, 3.0}));
-  EXPECT_EQ(sample->torque, (std::array<double, 3>{1.0, -2.0, 3.0}));
+  EXPECT_EQ(sample->torque, (std::array<double, 3>{4.0, -5.0, 6.0}));
   EXPECT_EQ(sample->force_unit, netft::ForceUnit::Newton);
   EXPECT_EQ(sample->torque_unit, netft::TorqueUnit::NewtonMeter);
   EXPECT_EQ(sample->configuration_revision, 1U);
   {
     std::lock_guard<std::mutex> lock(callback_mutex);
     ASSERT_TRUE(callback_sample);
     EXPECT_EQ(callback_sample->rdt_sequence, sample->rdt_sequence);
+    EXPECT_EQ(callback_sample->raw_wrench, expected_raw);
     EXPECT_EQ(callback_sample->force, sample->force);
     EXPECT_EQ(callback_sample->torque, sample->torque);
   }