Use a private netft-cpp core snapshot

.github/workflows/coverage.yml

@@ -23,7 +23,9 @@ jobs:
         with:
           persist-credentials: false
       - name: Install coverage dependencies
-        run: sudo apt-get update && sudo apt-get install -y gcovr libgtest-dev
+        run: >-
+          sudo apt-get update && sudo apt-get install -y
+          gcovr libcurl4-openssl-dev libgtest-dev
       - name: Configure coverage build
         run: >-
           cmake -S . -B build/coverage

CHANGELOG.rst

@@ -2,6 +2,16 @@
 Changelog for package netft_driver
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.3.0 (2026-07-22)
+------------------
+* Add a private ``netft-cpp`` v0.1.2 core snapshot and remove the duplicate original runtime.
+* Read sensor-reported calibration by default and convert its native force and torque units to N and Nm.
+* Add the explicit ``use_sensor_calibration=false`` manual override, with counts/N and counts/Nm inputs.
+* Add HTTP configuration port and timeout parameters for sensor calibration discovery.
+* Support Noetic's GCC 9 standard library with an Apache-2.0 XML parser compatibility translation unit.
+* Keep the ros2_control plugin ABI private by hiding core and implementation symbols.
+* License the complete repository under Apache-2.0, matching the upstream core.
+
 0.2.2 (2026-07-22)
 ------------------
 * Replace the project-specific sensor address in defaults and examples with

CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10)
+cmake_minimum_required(VERSION 3.16)
 project(netft_driver)
 
 set(CMAKE_CXX_STANDARD 17)
@@ -8,20 +8,74 @@ set(CMAKE_CXX_EXTENSIONS OFF)
 option(NETFT_CORE_ONLY "Build only the ROS-neutral C++ core" OFF)
 option(NETFT_INSTALL_TEST_TOOLS "Install private integration-test tools" OFF)
 
-add_library(netft_core STATIC src/protocol.cpp src/status.cpp src/client.cpp)
+find_package(Threads REQUIRED)
+find_package(CURL 7.63 REQUIRED)
+
+include(CheckCXXSourceCompiles)
+check_cxx_source_compiles(
+  [=[
+    #include <charconv>
+    #include <system_error>
+
+    int main() {
+      const char input[] = "1";
+      double value{};
+      const auto result =
+        std::from_chars(input, input + 1, value, std::chars_format::general);
+      return result.ec == std::errc{} ? 0 : 1;
+    }
+  ]=]
+  NETFT_HAS_FLOAT_FROM_CHARS)
+
+set(NETFT_SNAPSHOT_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/src/core")
+if(NETFT_HAS_FLOAT_FROM_CHARS)
+  set(NETFT_XML_CONFIG_SOURCE
+    "${NETFT_SNAPSHOT_SOURCE_DIR}/src/detail/xml_config.cpp")
+else()
+  set(NETFT_XML_CONFIG_SOURCE
+    "${CMAKE_CURRENT_SOURCE_DIR}/src/compat/xml_config.cpp")
+endif()
+set(NETFT_SNAPSHOT_SOURCES
+  src/core/src/types.cpp
+  src/core/src/status.cpp
+  src/core/src/discovery.cpp
+  src/core/src/client.cpp
+  src/core/src/detail/client_impl.cpp
+  src/core/src/detail/fault_latch.cpp
+  src/core/src/detail/posix_transport.cpp
+  src/core/src/detail/protocol.cpp
+  src/core/src/detail/sequence.cpp
+  ${NETFT_XML_CONFIG_SOURCE}
+)
+
+add_library(netft_core STATIC ${NETFT_SNAPSHOT_SOURCES})
 set_target_properties(netft_core PROPERTIES POSITION_INDEPENDENT_CODE ON)
 target_compile_features(netft_core PUBLIC cxx_std_17)
-target_include_directories(netft_core PUBLIC
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+target_compile_definitions(netft_core PRIVATE NETFT_BUILDING_LIBRARY)
+target_include_directories(netft_core
+  PUBLIC ${NETFT_SNAPSHOT_SOURCE_DIR}/include
+  PRIVATE ${NETFT_SNAPSHOT_SOURCE_DIR}/src
 )
+target_link_libraries(netft_core PUBLIC Threads::Threads CURL::libcurl)
+
+add_library(netft_ros_support STATIC
+  src/ros/unit_conversion.cpp
+  src/ros/diagnostics.cpp)
+set_target_properties(netft_ros_support PROPERTIES POSITION_INDEPENDENT_CODE ON)
+target_compile_features(netft_ros_support PUBLIC cxx_std_17)
+target_include_directories(netft_ros_support
+  PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}/src
+    ${NETFT_SNAPSHOT_SOURCE_DIR}/include)
+target_link_libraries(netft_ros_support PUBLIC netft_core)
 
 add_executable(netft_check src/check_main.cpp)
-find_package(Threads REQUIRED)
-target_link_libraries(netft_check PRIVATE netft_core Threads::Threads)
+target_link_libraries(netft_check PRIVATE netft_ros_support netft_core)
 
 if(NETFT_CORE_ONLY)
   enable_testing()
   find_package(GTest REQUIRED)
+  add_subdirectory(test/core)
   add_subdirectory(test/cpp)
   return()
 endif()
@@ -46,12 +100,13 @@ endif()
 if(NETFT_ROS_VERSION STREQUAL "1")
   find_package(catkin REQUIRED COMPONENTS roscpp geometry_msgs std_srvs diagnostic_msgs)
   catkin_package(
-    INCLUDE_DIRS include
-    LIBRARIES netft_core
     CATKIN_DEPENDS roscpp geometry_msgs std_srvs diagnostic_msgs)
   add_executable(netft_node_cpp src/ros1_node.cpp)
   set_target_properties(netft_node_cpp PROPERTIES OUTPUT_NAME netft_node)
-  target_link_libraries(netft_node_cpp PRIVATE netft_core ${catkin_LIBRARIES})
+  target_link_libraries(netft_node_cpp PRIVATE
+    netft_ros_support
+    netft_core
+    ${catkin_LIBRARIES})
   target_include_directories(netft_node_cpp PRIVATE ${catkin_INCLUDE_DIRS})
   if(CATKIN_ENABLE_TESTING)
     catkin_run_tests_target(
@@ -73,15 +128,15 @@ if(NETFT_ROS_VERSION STREQUAL "1")
     FILES config/netft_ros1.yaml
     DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config
   )
-  install(TARGETS netft_core ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
   install(TARGETS netft_node_cpp netft_check
     RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
-  install(DIRECTORY include/${PROJECT_NAME}/
-    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
   if(CATKIN_ENABLE_TESTING)
     catkin_add_gtest(netft_ros1_node test/cpp/test_ros1_node.cpp)
     if(TARGET netft_ros1_node)
-      target_link_libraries(netft_ros1_node netft_core ${catkin_LIBRARIES})
+      target_link_libraries(netft_ros1_node
+        netft_ros_support
+        netft_core
+        ${catkin_LIBRARIES})
       target_include_directories(netft_ros1_node PRIVATE ${catkin_INCLUDE_DIRS})
     endif()
   endif()
@@ -99,25 +154,42 @@ elseif(NETFT_ROS_VERSION STREQUAL "2")
   else()
     set(NETFT_ROS2_CONTROL_API_DEFINITION NETFT_ROS2_CONTROL_MODERN_API)
   endif()
+
+  function(netft_configure_ros2_control_target target)
+    set_target_properties(${target} PROPERTIES
+      CXX_VISIBILITY_PRESET hidden
+      VISIBILITY_INLINES_HIDDEN YES)
+    target_compile_definitions(${target} PRIVATE
+      ${NETFT_ROS2_CONTROL_API_DEFINITION})
+    target_include_directories(${target} PRIVATE
+      ${CMAKE_CURRENT_SOURCE_DIR}/src)
+    target_link_libraries(${target} PRIVATE
+      netft_ros_support
+      netft_core
+      ${hardware_interface_TARGETS}
+      ${pluginlib_TARGETS}
+      ${rclcpp_TARGETS}
+      ${realtime_tools_TARGETS}
+      ${std_srvs_TARGETS}
+      ${diagnostic_msgs_TARGETS}
+    )
+    if(
+      CMAKE_SYSTEM_NAME STREQUAL "Linux"
+      AND CMAKE_CXX_COMPILER_ID MATCHES "^(GNU|Clang)$"
+    )
+      target_link_options(${target} PRIVATE
+        "LINKER:--exclude-libs,libnetft_core.a:libnetft_ros_support.a")
+    endif()
+  endfunction()
+
   add_library(netft_ros2_control SHARED src/netft_hardware_interface.cpp)
-  target_compile_definitions(netft_ros2_control PRIVATE
-    ${NETFT_ROS2_CONTROL_API_DEFINITION})
-  target_include_directories(netft_ros2_control PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>)
-  target_link_libraries(netft_ros2_control PRIVATE
-    netft_core
-    ${hardware_interface_TARGETS}
-    ${pluginlib_TARGETS}
-    ${rclcpp_TARGETS}
-    ${realtime_tools_TARGETS}
-    ${std_srvs_TARGETS}
-    ${diagnostic_msgs_TARGETS}
-  )
+  netft_configure_ros2_control_target(netft_ros2_control)
   pluginlib_export_plugin_description_file(
     hardware_interface netft_hardware_plugins.xml)
   add_executable(netft_node_cpp src/ros2_node.cpp)
   set_target_properties(netft_node_cpp PROPERTIES OUTPUT_NAME netft_node)
   target_link_libraries(netft_node_cpp PRIVATE
+    netft_ros_support
     netft_core
     ${rclcpp_TARGETS}
     ${geometry_msgs_TARGETS}
@@ -163,13 +235,49 @@ elseif(NETFT_ROS_VERSION STREQUAL "2")
     )
   endif()
   if(BUILD_TESTING)
-    target_compile_definitions(netft_ros2_control PRIVATE
-      NETFT_ROS2_CONTROL_TESTING)
     find_package(ament_cmake_pytest REQUIRED)
     find_package(ament_cmake_gtest REQUIRED)
+
+    set(
+      NETFT_ROS2_CONTROL_TEST_PREFIX
+      "${CMAKE_CURRENT_BINARY_DIR}/netft_ros2_control_test_prefix")
+    set(
+      NETFT_ROS2_CONTROL_TEST_SHARE
+      "${NETFT_ROS2_CONTROL_TEST_PREFIX}/share/${PROJECT_NAME}")
+    file(MAKE_DIRECTORY
+      "${NETFT_ROS2_CONTROL_TEST_PREFIX}/lib"
+      "${NETFT_ROS2_CONTROL_TEST_PREFIX}/share/ament_index/resource_index/packages"
+      "${NETFT_ROS2_CONTROL_TEST_PREFIX}/share/ament_index/resource_index/hardware_interface__pluginlib__plugin"
+      "${NETFT_ROS2_CONTROL_TEST_SHARE}")
+    configure_file(
+      test/cpp/netft_hardware_test_plugins.xml
+      "${NETFT_ROS2_CONTROL_TEST_SHARE}/netft_hardware_test_plugins.xml"
+      COPYONLY)
+    configure_file(
+      package.xml
+      "${NETFT_ROS2_CONTROL_TEST_SHARE}/package.xml"
+      COPYONLY)
+    file(WRITE
+      "${NETFT_ROS2_CONTROL_TEST_PREFIX}/share/ament_index/resource_index/packages/${PROJECT_NAME}"
+      "")
+    file(WRITE
+      "${NETFT_ROS2_CONTROL_TEST_PREFIX}/share/ament_index/resource_index/hardware_interface__pluginlib__plugin/${PROJECT_NAME}"
+      "share/${PROJECT_NAME}/netft_hardware_test_plugins.xml")
+
+    add_library(
+      netft_ros2_control_testing SHARED
+      src/netft_hardware_interface.cpp)
+    netft_configure_ros2_control_target(netft_ros2_control_testing)
+    target_compile_definitions(netft_ros2_control_testing PRIVATE
+      NETFT_ROS2_CONTROL_TESTING)
+    set_target_properties(netft_ros2_control_testing PROPERTIES
+      LIBRARY_OUTPUT_DIRECTORY "${NETFT_ROS2_CONTROL_TEST_PREFIX}/lib"
+      RUNTIME_OUTPUT_DIRECTORY "${NETFT_ROS2_CONTROL_TEST_PREFIX}/lib")
+
     ament_add_gtest(netft_ros2_node test/cpp/test_ros2_node.cpp)
     if(TARGET netft_ros2_node)
       target_link_libraries(netft_ros2_node
+        netft_ros_support
         netft_core
         ${rclcpp_TARGETS}
         ${geometry_msgs_TARGETS}
@@ -179,26 +287,43 @@ elseif(NETFT_ROS_VERSION STREQUAL "2")
     endif()
     ament_add_gtest(netft_hardware_interface
       test/cpp/test_hardware_interface.cpp
-      test/cpp/support/fake_sensor.cpp
+      test/cpp/support/ros2_control_test_access.cpp
+      test/core/support/fake_http_server.cpp
+      test/core/support/fake_sensor.cpp
+      ENV
+        "AMENT_PREFIX_PATH=${NETFT_ROS2_CONTROL_TEST_PREFIX}:$ENV{AMENT_PREFIX_PATH}"
     )
     if(TARGET netft_hardware_interface)
       target_compile_definitions(netft_hardware_interface PRIVATE
-        ${NETFT_ROS2_CONTROL_API_DEFINITION}
-        NETFT_ROS2_CONTROL_TESTING)
+        ${NETFT_ROS2_CONTROL_API_DEFINITION})
+      target_include_directories(netft_hardware_interface PRIVATE
+        ${CMAKE_CURRENT_SOURCE_DIR}/src
+        ${CMAKE_CURRENT_SOURCE_DIR}/test/core
+        ${NETFT_SNAPSHOT_SOURCE_DIR}/src)
       target_link_libraries(netft_hardware_interface
-        netft_ros2_control
+        netft_ros_support
         netft_core
+        ${CMAKE_DL_LIBS}
         ${hardware_interface_TARGETS}
         ${rclcpp_TARGETS}
         ${std_srvs_TARGETS}
         ${diagnostic_msgs_TARGETS}
       )
+      add_dependencies(
+        netft_hardware_interface
+        netft_ros2_control_testing)
     endif()
     ament_add_pytest_test(netft_unit test
       WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
       APPEND_ENV PYTHONPATH=${CMAKE_CURRENT_SOURCE_DIR}
       TIMEOUT 90
     )
+    add_test(
+      NAME netft_ros2_control_symbol_audit
+      COMMAND
+        "${CMAKE_CURRENT_SOURCE_DIR}/test/integration/audit_ros2_control_symbols.sh"
+        "$<TARGET_FILE:netft_ros2_control>"
+    )
     ament_add_pytest_test(netft_ros2_smoke_harness test/test_shell_harness.py
       WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
       APPEND_ENV PYTHONPATH=${CMAKE_CURRENT_SOURCE_DIR}
@@ -218,9 +343,7 @@ elseif(NETFT_ROS_VERSION STREQUAL "2")
       TIMEOUT 30
     )
   endif()
-  install(TARGETS netft_core ARCHIVE DESTINATION lib)
   install(TARGETS netft_node_cpp netft_check DESTINATION lib/${PROJECT_NAME})
-  install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION include/${PROJECT_NAME})
   install(TARGETS netft_ros2_control
     ARCHIVE DESTINATION lib
     LIBRARY DESTINATION lib

CONTRIBUTING.md

@@ -66,6 +66,18 @@ Before opening a pull request:
 Open an issue before starting a large feature or an interface-breaking change
 so the scope can be agreed upon first.
 
+## Core snapshot updates
+
+1. Update and release `netft-cpp` first.
+2. Copy only the library paths from an immutable upstream tag.
+3. Preserve the `netft` namespace and the Apache-2.0 license.
+4. Update `src/core/UPSTREAM` with the copied tag and commit.
+5. Keep the Apache-2.0 `src/compat/xml_config.cpp` fallback synchronized with the copied upstream XML parser.
+6. Rerun the byte comparison and every snapshot and ROS test.
+7. Keep ROS-specific changes out of `src/core/`; port reusable fixes upstream before copying them back.
+
+Do not add an automated downloader or submodule for the core snapshot.
+
 ## Physical sensor safety
 
 The automated test suite does not require a physical sensor. Do not perform
@@ -80,5 +92,8 @@ issued. Do not publish private network details or sensor identifiers.
 
 ## License
 
-By contributing, you agree that your contribution is licensed under the
-repository's [MIT License](LICENSE).
+Contributions are licensed under the repository's
+[Apache-2.0 License](LICENSE). The copied `src/core/` snapshot retains the
+upstream license copy at [src/core/LICENSE](src/core/LICENSE). Propose reusable
+core fixes upstream first, then copy them from a released immutable upstream
+revision and update the fallback when the XML parser changes.