Sync checked native core and clarify Python acquisition contracts

.gitattributes

@@ -0,0 +1,2 @@
+# Preserve the byte inventory when Windows enables core.autocrlf.
+/core/** -text

.github/workflows/ci.yml

@@ -42,7 +42,7 @@ jobs:
       - uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7
         with:
           persist-credentials: false
-      - uses: prefix-dev/setup-pixi@v0.10.0
+      - uses: prefix-dev/setup-pixi@a09b6247153796b190642a2b53fac4241043cf6f # v0.10.0
         with:
           cache: true
       - name: Verify controlled core snapshot
@@ -85,7 +85,7 @@ jobs:
       - uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7
         with:
           persist-credentials: false
-      - uses: prefix-dev/setup-pixi@v0.10.0
+      - uses: prefix-dev/setup-pixi@a09b6247153796b190642a2b53fac4241043cf6f # v0.10.0
         with:
           cache: true
       - name: Configure
@@ -113,7 +113,7 @@ jobs:
       - uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7
         with:
           persist-credentials: false
-      - uses: prefix-dev/setup-pixi@v0.10.0
+      - uses: prefix-dev/setup-pixi@a09b6247153796b190642a2b53fac4241043cf6f # v0.10.0
         with:
           cache: true
       - name: Configure
@@ -145,7 +145,7 @@ jobs:
       - uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7
         with:
           persist-credentials: false
-      - uses: prefix-dev/setup-pixi@v0.10.0
+      - uses: prefix-dev/setup-pixi@a09b6247153796b190642a2b53fac4241043cf6f # v0.10.0
         with:
           cache: true
       - name: Verify pinned CMake version
@@ -169,7 +169,7 @@ jobs:
       - uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7
         with:
           persist-credentials: false
-      - uses: prefix-dev/setup-pixi@v0.10.0
+      - uses: prefix-dev/setup-pixi@a09b6247153796b190642a2b53fac4241043cf6f # v0.10.0
         with:
           cache: true
       - name: Configure
@@ -205,7 +205,7 @@ jobs:
       - uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7
         with:
           persist-credentials: false
-      - uses: prefix-dev/setup-pixi@v0.10.0
+      - uses: prefix-dev/setup-pixi@a09b6247153796b190642a2b53fac4241043cf6f # v0.10.0
         with:
           cache: true
       - name: Configure

.github/workflows/codeql.yml

@@ -35,23 +35,23 @@ jobs:
           persist-credentials: false
       - name: Initialize Python CodeQL
         if: matrix.language == 'python'
-        uses: github/codeql-action/init@v4
+        uses: github/codeql-action/init@2892aa5e19bbd11bc0cff5427e3b750a04d9e3c2 # v4
         with:
           languages: ${{ matrix.language }}
           build-mode: ${{ matrix.build-mode }}
       - name: Initialize C++ CodeQL with inline suppressions
         if: matrix.language == 'c-cpp'
-        uses: github/codeql-action/init@v4
+        uses: github/codeql-action/init@2892aa5e19bbd11bc0cff5427e3b750a04d9e3c2 # v4
         with:
           languages: ${{ matrix.language }}
           build-mode: ${{ matrix.build-mode }}
           packs: ${{ matrix.suppression-pack }}
-      - uses: prefix-dev/setup-pixi@v0.10.0
+      - uses: prefix-dev/setup-pixi@a09b6247153796b190642a2b53fac4241043cf6f # v0.10.0
         if: matrix.language == 'c-cpp'
         with:
           cache: true
       - name: Build extension for C++ analysis
         if: matrix.language == 'c-cpp'
         run: pixi run install
       - name: Analyze
-        uses: github/codeql-action/analyze@v4
+        uses: github/codeql-action/analyze@2892aa5e19bbd11bc0cff5427e3b750a04d9e3c2 # v4

.github/workflows/coverage.yml

@@ -20,21 +20,21 @@ jobs:
       - uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7
         with:
           persist-credentials: false
-      - uses: prefix-dev/setup-pixi@v0.10.0
+      - uses: prefix-dev/setup-pixi@a09b6247153796b190642a2b53fac4241043cf6f # v0.10.0
         with:
           cache: true
       - name: Generate Python and native coverage
         run: pixi run coverage
       - name: Upload Python coverage
-        uses: codecov/codecov-action@v7
+        uses: codecov/codecov-action@303a32d7a59b442fa8d48b6a1cc6825c09c847a5 # v7
         continue-on-error: true
         with:
           files: coverage.xml
           disable_search: true
           flags: python
           use_oidc: true
       - name: Upload native coverage
-        uses: codecov/codecov-action@v7
+        uses: codecov/codecov-action@303a32d7a59b442fa8d48b6a1cc6825c09c847a5 # v7
         continue-on-error: true
         with:
           files: coverage-native.xml

.github/workflows/wheels.yml

@@ -5,6 +5,11 @@ on:
   push:
     branches: [main]
   workflow_dispatch:
+    inputs:
+      windows_only:
+        description: Build only the Windows CPython 3.10 smoke wheel
+        type: boolean
+        default: false
 
 permissions:
   contents: read
@@ -15,6 +20,7 @@ concurrency:
 
 jobs:
   curl-build:
+    if: ${{ !inputs.windows_only }}
     runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7
@@ -46,6 +52,8 @@ jobs:
         with:
           python-version: "3.14"
           cache: pip
+      - name: Verify controlled core snapshot
+        run: python tools/sync_core.py verify
       - name: Install wheel build frontend
         run: python -m pip install cibuildwheel==3.4.1 auditwheel
       - name: Build CPython 3.10 x86_64 wheel
@@ -85,6 +93,8 @@ jobs:
         with:
           python-version: "3.14"
           cache: pip
+      - name: Verify controlled core snapshot
+        run: python tools/sync_core.py verify
       - name: Install wheel build frontend
         run: python -m pip install cibuildwheel==3.4.1 delocate
       - name: Build CPython 3.10 native macOS wheel
@@ -105,7 +115,7 @@ jobs:
           if-no-files-found: error
 
   windows-smoke:
-    if: github.event_name == 'pull_request'
+    if: ${{ always() && !cancelled() && ((github.event_name == 'pull_request' && needs.curl-build.result == 'success') || inputs.windows_only) }}
     needs: curl-build
     runs-on: windows-2025
     steps:
@@ -116,6 +126,8 @@ jobs:
         with:
           python-version: "3.14"
           cache: pip
+      - name: Verify controlled core snapshot
+        run: python tools/sync_core.py verify
       - name: Install wheel build frontend
         run: python -m pip install cibuildwheel==3.4.1 pefile
       - name: Build CPython 3.10 Windows wheel
@@ -135,7 +147,7 @@ jobs:
           if-no-files-found: error
 
   wheels:
-    if: github.event_name != 'pull_request'
+    if: github.event_name != 'pull_request' && !inputs.windows_only
     needs: curl-build
     strategy:
       fail-fast: false
@@ -154,6 +166,8 @@ jobs:
         with:
           python-version: "3.14"
           cache: pip
+      - name: Verify controlled core snapshot
+        run: python tools/sync_core.py verify
       - name: Install wheel build frontend
         run: python -m pip install cibuildwheel==3.4.1 auditwheel
       - name: Build supported wheels
@@ -173,7 +187,7 @@ jobs:
           if-no-files-found: error
 
   macos-wheels:
-    if: github.event_name != 'pull_request'
+    if: github.event_name != 'pull_request' && !inputs.windows_only
     needs: curl-build
     strategy:
       fail-fast: false
@@ -192,6 +206,8 @@ jobs:
         with:
           python-version: "3.14"
           cache: pip
+      - name: Verify controlled core snapshot
+        run: python tools/sync_core.py verify
       - name: Install wheel build frontend
         run: python -m pip install cibuildwheel==3.4.1 delocate
       - name: Build supported native macOS wheels
@@ -211,7 +227,7 @@ jobs:
           if-no-files-found: error
 
   windows-wheels:
-    if: github.event_name != 'pull_request'
+    if: github.event_name != 'pull_request' && !inputs.windows_only
     needs: curl-build
     runs-on: windows-2025
     steps:
@@ -222,6 +238,8 @@ jobs:
         with:
           python-version: "3.14"
           cache: pip
+      - name: Verify controlled core snapshot
+        run: python tools/sync_core.py verify
       - name: Install wheel build frontend
         run: python -m pip install cibuildwheel==3.4.1 pefile
       - name: Build supported Windows wheels

CHANGELOG.md

@@ -4,6 +4,12 @@ All notable changes to this project are documented in this file.
 
 ## Unreleased
 
+## 2.1.2 - 2026-10-08
+
+- Integrate netft-cpp 0.3.4's calibration and checked-time protections.
+- Support exact-commit snapshot synchronization and pin reviewed build actions.
+- Explain latest-value versus bounded capture queues, drop counters, legacy migration and seven-repository maintenance.
+
 ## 2.1.1 - 2026-08-14
 
 ### Fixed

CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.16)
-project(pynetft VERSION 2.1.1 LANGUAGES CXX)
+project(pynetft VERSION 2.1.2 LANGUAGES CXX)
 
 option(PYNETFT_BUILD_TESTING "Build pyNetFT native tests" OFF)
 

CONTRIBUTING.md

@@ -85,13 +85,17 @@ Pass the authorized address only through `NETFT_SENSOR_HOST`. Never commit it. T
 
 ## Cross-repository synchronization
 
-The `netft` organization maintains three separate repositories:
+The `netft` organization maintains seven separate repositories:
 
 - `netft-cpp` is the standalone C++ core and source of truth for shared protocol behavior;
 - `pyNetFT` contains a pinned private core snapshot, Python bindings, and the Python public API; and
-- `ros-netft` contains its own private core snapshot and ROS integration.
+- `ros-netft` contains its own private core snapshot and ROS integration;
+- `netft-cli` owns terminal workflows and its reviewed core adaptation;
+- `netft-viewer` owns desktop interaction, companion and packaging;
+- `netft-docs` maintains shared user guides and version-pinned references at https://netft.dev; and
+- `.github` maintains organization navigation, common templates and issue routing.
 
-There is no automatic runtime or build-time dependency between these repositories. Synchronize a released core into each consumer through separate, reviewable pull requests. Record the exact upstream tag and commit, port consumer-specific integration independently, run that repository's full supported tests, and document intentional differences. Do not claim the snapshots update in lockstep.
+There is no automatic runtime or build-time dependency between these repositories. Synchronize a released core into each consumer through separate, reviewable pull requests. Record the exact upstream tag and commit, port consumer-specific integration independently, run the necessary checks for the affected contract and supported release platforms, and document intentional differences. Do not claim the snapshots update in lockstep.
 
 ## Release workflow
 
@@ -124,3 +128,14 @@ Maintainers must verify the publisher owner, repository, workflow filename, and
 Keep each pull request limited to one coherent change. Describe the problem, chosen behavior, tests run, supported platforms, hardware involvement, and any core or ROS synchronization impact. Update public documentation and `CHANGELOG.md` when users need to know about a change.
 
 All contributions are submitted under the [Apache License 2.0](https://github.com/netft/pyNetFT/blob/main/LICENSE). The prior pyNetFT MIT text and third-party license notices remain in `LICENSES/`.
+
+### Current core candidate
+
+The private snapshot uses the exact netft-cpp `v0.3.4` release commit `1ce68a08a9387d9a36d22c3c259e44533199c347`; `UPSTREAM` and its content manifest record that release identity. Update from a clean upstream checkout using:
+
+```sh
+python tools/sync_core.py sync --source /path/to/netft-cpp --tag v0.3.4
+python tools/sync_core.py verify
+```
+
+The manifest checks the selected bytes, including provenance. It detects drift and does not authenticate a remote release. Consumer build files remain private; fixes to core source belong upstream.

core/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.16)
 
-project(netft VERSION 0.3.3 LANGUAGES CXX)
+project(netft VERSION 0.3.4 LANGUAGES CXX)
 
 include(CTest)
 include(GNUInstallDirs)

core/SNAPSHOT.sha256

@@ -1,26 +1,27 @@
-3db6fdfbb62d6073fa3f77784235cfe2eff06a1f102fb1d0f3a3f6da02dafa01  CMakeLists.txt
+b2329e8fa84798edb7ddf912d6ea79455bd8181d607b28ae94297e2f409398f4  CMakeLists.txt
 c71d239df91726fc519c6eb72d318ec65820627232b2f796219e87dcf35d0ab4  LICENSE
-926aedecaf33e0d9a178360ea455ee9cbdd54537f89d75835409fdb28fdcd908  UPSTREAM
+ce471ce02972730df08fb35bc3c3ea60346dc4e79f7780ad1d55126d1cb61395  UPSTREAM
 40701f04e67bb18052b6c8f1db60cf5d41baab09e5396f5a88c1eb14ad1a7139  cmake/netftConfig.cmake.in
 e4a52fe7c7e13de95a29bdbd688d295a4a8ddc1805276274b0c14d4092f7253d  include/netft/client.hpp
 4f7fb383da5456fd8477e1981f4ff3eba9b82ec3a98f3c395e7d482faf75c112  include/netft/discovery.hpp
 1beed1a22ad16aa801e0cceb0950548a32d263e01f260a86e72ec58d8f8d1a74  include/netft/export.hpp
 912892bcb8bb5f95392c9c74983d91aab103b7adc5735505b0ac97e1012893b1  include/netft/status.hpp
 a7c899858aa7a0a28780504f14c1ecdaebb375607119a03500903f3782f45a68  include/netft/types.hpp
 7199f02fa0fd88059323f507edbf073b2a4827c692d1fd824893cbad8ea9215b  src/client.cpp
-a7e0bcba7a8cd5ccb1ab04658ea735f2b6a3f2bac81c3bce95578e3c14349650  src/detail/client_impl.cpp
+d4a7c89afa6a98ef687e7ecb266c8ce3287ec2f01c4f14d29278cf3cce140640  src/detail/client_impl.cpp
 b202cc6e250866e681d16b480911f77d865d9187300111f8482bc4a8b0424b34  src/detail/client_impl.hpp
 ad8744385642693bb4666c428a5dbd0d6eff350b0079a6c9ff720512e89b6a53  src/detail/fault_latch.cpp
 be488c557e17044948cd62e6de07bf54862d389a584b40b78336479cecdaf23c  src/detail/fault_latch.hpp
 f5953a7fc4fd5eee56f7aa3568fe7417010e3e767cfbb0ee5922ee5f8aa2a9aa  src/detail/protocol.cpp
 8ef13600d67b2bb77181c5403e9b51b7f48b6f8ef06381fb1f07c5b9b2a90d8a  src/detail/protocol.hpp
 fe9034a4a32138c3469005a44a1fbd61cfe41df25207723635a22e8ed376dbf5  src/detail/sequence.cpp
 72daab01251425dd7fd5d26334760f4937f94e674a16df0fb38301b0ee78b9c1  src/detail/sequence.hpp
+8fdc8f3373008f41ea032478ac44ef5274013eeb4ea56f5fdd265895672ee0ae  src/detail/time.hpp
 78098e0c98c84103653b7aa9e2baf689cde656b52e1e13873f7491aed7f35ff5  src/detail/udp_transport.hpp
-6c4fb6a8b6bdfc9f1364ac0d76423e9972e1eb30bb987aa6865e191e7d93f9ea  src/detail/udp_transport_posix.cpp
-9a9e34da6e9d66e0918e85da61ebc60f9ae3806a0471c327f818e8ccd210426e  src/detail/udp_transport_windows.cpp
-3e908eac916b3cf457387fd878dd77fb46e3b5a9eee37dfc60be788649476475  src/detail/xml_config.cpp
+f6e7e14de70a366e3d25b139dee8f061cdfff4c5173c78b831e564125b81d4b2  src/detail/udp_transport_posix.cpp
+d48e67880a9c0db5f2c9b4045cc7caddb7fdfbb934cb676d25914c9cf2d5cfe5  src/detail/udp_transport_windows.cpp
+95a05fe378b735b433ea10f438e9f5338120830e054b30ed11cd8db12d760cea  src/detail/xml_config.cpp
 f10ff61cd2cc645abca23a7abce37439273569c6fe139a4fb07041532edb908d  src/detail/xml_config.hpp
 5a25276d0307c6a341aaee525cc9a66f00cda06e30bd345716ff5ee17a57e3e7  src/discovery.cpp
 2598c182a2322925c2d99e1d0bba3b57215e451ba1ecc8df6b108b885f089c1f  src/status.cpp
-6017859e709c6b80fd5dc444554e497410e1c7d19a12ae05502f0c9922c58762  src/types.cpp
+2b59ff7f0c88207e47d295168eaf4383fbecc008b5e4f1346fb63fddfe02b72b  src/types.cpp

core/UPSTREAM

@@ -1,4 +1,4 @@
 repository=https://github.com/netft/netft-cpp
-tag=v0.3.3
-commit=3259b8576b16fb150b51e9ef9090366c5e6efcba
+tag=v0.3.4
+commit=1ce68a08a9387d9a36d22c3c259e44533199c347
 paths=CMakeLists.txt,LICENSE,cmake,include,src

core/src/detail/client_impl.cpp

@@ -1,7 +1,9 @@
 #include "detail/client_impl.hpp"
+#include "detail/time.hpp"
 
 #include <algorithm>
 #include <array>
+#include <cmath>
 #include <exception>
 #include <stdexcept>
 #include <utility>
@@ -301,12 +303,13 @@ void Client::Impl::bias() {
 }
 
 bool Client::Impl::wait_for_first_sample(const std::chrono::duration<double> timeout) {
+  const auto deadline = detail::checked_deadline(std::chrono::steady_clock::now(), timeout);
   std::unique_lock<std::mutex> data_lock(data_mutex_);
   const auto captured_generation = generation_;
   if (captured_generation == 0) {
     return false;
   }
-  first_sample_cv_.wait_for(data_lock, timeout, [this, captured_generation] {
+  first_sample_cv_.wait_until(data_lock, deadline, [this, captured_generation] {
     return generation_ != captured_generation || delivered_generation_ == captured_generation ||
            stopping_ || faulted();
   });
@@ -406,7 +409,9 @@ void Client::Impl::run() noexcept {
       }
 
       std::unique_lock<std::mutex> data_lock(data_mutex_);
-      first_sample_cv_.wait_for(data_lock, backoff, [this] { return stopping_.load(); });
+      first_sample_cv_.wait_until(data_lock,
+                                  detail::checked_deadline(detail::SteadyClock::now(), backoff),
+                                  [this] { return stopping_.load(); });
       data_lock.unlock();
       backoff = std::min(backoff * 2.0, config_.reconnect_max_delay);
     }
@@ -461,7 +466,7 @@ Client::Impl::SessionOutcome Client::Impl::receive_session() {
   }
 
   const auto timeout = config_.receive_timeout;
-  auto deadline = std::chrono::steady_clock::now() + timeout;
+  auto deadline = detail::checked_deadline(std::chrono::steady_clock::now(), timeout);
   std::array<std::uint8_t, 65'536> buffer{};
   while (!stopping_) {
     const auto now = std::chrono::steady_clock::now();
@@ -511,7 +516,7 @@ Client::Impl::SessionOutcome Client::Impl::receive_session() {
       consecutive_malformed_ = 0;
     }
     received_valid_record = true;
-    deadline = received_at + timeout;
+    deadline = detail::checked_deadline(received_at, timeout);
     if (const auto outcome = handle_record(record, received_at)) {
       return {*outcome, {}, received_valid_record};
     }
@@ -631,6 +636,11 @@ Client::Impl::handle_record(const detail::RawRecord &record,
   sample.torque = {record.tx / calibration.counts_per_torque_unit,
                    record.ty / calibration.counts_per_torque_unit,
                    record.tz / calibration.counts_per_torque_unit};
+  const auto finite = [](double value) { return std::isfinite(value); };
+  if (!std::all_of(sample.force.begin(), sample.force.end(), finite) ||
+      !std::all_of(sample.torque.begin(), sample.torque.end(), finite)) {
+    return SessionResult::SensorConfiguration;
+  }
   sample.force_unit = calibration.force_unit;
   sample.torque_unit = calibration.torque_unit;
   sample.configuration_revision = configuration.revision;