Update core snapshot to netft-cpp 0.3.3

.github/workflows/ci.yml

@@ -156,7 +156,6 @@ jobs:
           -DCMAKE_BUILD_TYPE=Release
           -DBUILD_SHARED_LIBS=${{ matrix.build-shared }}
           -DBUILD_TESTING=OFF
-          -DNETFT_BUILD_CLI=OFF
           -DCMAKE_INSTALL_PREFIX=${{ github.workspace }}/build/cmake-316-install
       - name: Build and install core
         run: |

CHANGELOG.md

@@ -6,8 +6,8 @@ All notable changes to this project are documented in this file.
 
 ### Fixed
 
-- Update the pinned native core to netft-cpp 0.3.1 so fail-stop clients do not receive
-  stalled or backward FT-sequence samples before the corresponding fault.
+- Update the pinned native core to netft-cpp 0.3.3, including lifecycle-safe
+  client destruction from a sample callback.
 - Exclude the upstream legacy CLI sources from the Python package's private core snapshot.
 
 ## 2.1.0 - 2026-07-29

CMakeLists.txt

@@ -5,7 +5,6 @@ option(PYNETFT_BUILD_TESTING "Build pyNetFT native tests" OFF)
 
 set(BUILD_SHARED_LIBS OFF CACHE BOOL "" FORCE)
 set(BUILD_TESTING OFF CACHE BOOL "" FORCE)
-set(NETFT_BUILD_CLI OFF CACHE BOOL "" FORCE)
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
 find_package(Python COMPONENTS Interpreter Development.Module REQUIRED)

README.md

@@ -10,7 +10,7 @@
 
 pyNetFT is a synchronous, typed Python client for ATI Industrial Automation Net F/T Ethernet force/torque sensors. It discovers the sensor calibration, streams RDT measurements through a native C++ core, and exposes raw counts, physical measurements, health, and recovery information without requiring NumPy.
 
-- **Tested native core:** the protocol and recovery implementation is pinned to [netft-cpp 0.3.1](https://github.com/netft/netft-cpp/releases/tag/v0.3.1) and is exercised with offline fake sensors and native sanitizers.
+- **Tested native core:** the protocol and recovery implementation is pinned to [netft-cpp 0.3.3](https://github.com/netft/netft-cpp/releases/tag/v0.3.3) and is exercised with offline fake sensors and native sanitizers.
 - **Sensor-aware data:** calibration, force and torque units, configuration revisions, sequence progress, and faults remain visible to the application.
 - **Self-contained typed wheels:** Linux, macOS, and Windows wheels include the native core and a minimal static HTTP-only curl build, plus inline type information for Python 3.10–3.14.
 

core/CMakeLists.txt

@@ -1,13 +1,12 @@
 cmake_minimum_required(VERSION 3.16)
 
-project(netft VERSION 0.3.1 LANGUAGES CXX)
+project(netft VERSION 0.3.3 LANGUAGES CXX)
 
 include(CTest)
 include(GNUInstallDirs)
 include(CMakePackageConfigHelpers)
 
 option(NETFT_SANITIZERS "Enable address and undefined behavior sanitizers" OFF)
-option(NETFT_BUILD_CLI "Build the netft command-line tool" ON)
 
 add_library(netft_sanitizers INTERFACE)
 if(NETFT_SANITIZERS)
@@ -68,17 +67,6 @@ target_link_libraries(netft
     $<BUILD_INTERFACE:netft_sanitizers>
 )
 
-if(NETFT_BUILD_CLI)
-  add_library(netft_cli_lib STATIC app/cli.cpp)
-  target_compile_features(netft_cli_lib PUBLIC cxx_std_17)
-  target_include_directories(netft_cli_lib PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/app)
-  target_link_libraries(netft_cli_lib PUBLIC netft::netft)
-
-  add_executable(netft_cli app/main.cpp)
-  set_target_properties(netft_cli PROPERTIES OUTPUT_NAME netft)
-  target_link_libraries(netft_cli PRIVATE netft_cli_lib)
-endif()
-
 install(
   DIRECTORY include/netft
   DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
@@ -90,13 +78,6 @@ install(
   LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
   ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
 )
-if(NETFT_BUILD_CLI)
-  install(
-    TARGETS netft_cli
-    RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
-  )
-endif()
-
 set(netft_cmake_install_dir "${CMAKE_INSTALL_LIBDIR}/cmake/netft")
 configure_package_config_file(
   cmake/netftConfig.cmake.in

core/SNAPSHOT.sha256

@@ -1,15 +1,15 @@
-c493d94026a5eb53f0589341d33915b8180c34bd712f2f9f2191e41ca48dd8f5  CMakeLists.txt
+3db6fdfbb62d6073fa3f77784235cfe2eff06a1f102fb1d0f3a3f6da02dafa01  CMakeLists.txt
 c71d239df91726fc519c6eb72d318ec65820627232b2f796219e87dcf35d0ab4  LICENSE
-e78f98877ffe87b93dcec3d30d9c59337d3fa0e2e473ecc7134994a0c3bb7092  UPSTREAM
+926aedecaf33e0d9a178360ea455ee9cbdd54537f89d75835409fdb28fdcd908  UPSTREAM
 40701f04e67bb18052b6c8f1db60cf5d41baab09e5396f5a88c1eb14ad1a7139  cmake/netftConfig.cmake.in
-ebb4c53b7e7e65880580a7649e1c1a142e3a9db1fdec7d108d2d7dde0ad0d36d  include/netft/client.hpp
+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
-e8a68945aaebfd19a1cb1f5cf71f4666d997fa351a41e9adcd137b50a7eb3ae7  src/client.cpp
+7199f02fa0fd88059323f507edbf073b2a4827c692d1fd824893cbad8ea9215b  src/client.cpp
 a7e0bcba7a8cd5ccb1ab04658ea735f2b6a3f2bac81c3bce95578e3c14349650  src/detail/client_impl.cpp
-5d194b6b6cb8b04e742ee3e1508ac7b8e7972b5bbc7a02c94003d1f402dfccf1  src/detail/client_impl.hpp
+b202cc6e250866e681d16b480911f77d865d9187300111f8482bc4a8b0424b34  src/detail/client_impl.hpp
 ad8744385642693bb4666c428a5dbd0d6eff350b0079a6c9ff720512e89b6a53  src/detail/fault_latch.cpp
 be488c557e17044948cd62e6de07bf54862d389a584b40b78336479cecdaf23c  src/detail/fault_latch.hpp
 f5953a7fc4fd5eee56f7aa3568fe7417010e3e767cfbb0ee5922ee5f8aa2a9aa  src/detail/protocol.cpp

core/UPSTREAM

@@ -1,4 +1,4 @@
 repository=https://github.com/netft/netft-cpp
-tag=v0.3.1
-commit=859eeda8b077093f9bc49d9c1e5506c334647e7b
+tag=v0.3.3
+commit=3259b8576b16fb150b51e9ef9090366c5e6efcba
 paths=CMakeLists.txt,LICENSE,cmake,include,src

core/include/netft/client.hpp

@@ -21,6 +21,10 @@ class NETFT_API Client {
   using SampleCallback = std::function<void(const Sample &)>;
 
   explicit Client(Config config);
+  // Destruction is synchronous except when initiated by the sample callback.
+  // In that case worker shutdown and storage reclamation are deferred because
+  // a callback cannot join its own thread. The callback must not access the
+  // Client after initiating destruction.
   ~Client();
   Client(const Client &) = delete;
   Client &operator=(const Client &) = delete;

core/src/client.cpp

@@ -1,14 +1,67 @@
 #include "netft/client.hpp"
 
+#include <condition_variable>
+#include <deque>
+#include <mutex>
+#include <thread>
 #include <utility>
 
 #include "detail/client_impl.hpp"
 
 namespace netft {
+namespace {
+
+template <typename Value> class DeferredDestroyer {
+public:
+  DeferredDestroyer() : worker_(&DeferredDestroyer::run, this) {}
+
+  void enqueue(std::unique_ptr<Value> value) {
+    {
+      std::scoped_lock lock(mutex_);
+      pending_.push_back(std::move(value));
+    }
+    condition_.notify_one();
+  }
+
+private:
+  void run() noexcept {
+    for (;;) {
+      std::unique_ptr<Value> value;
+      {
+        std::unique_lock<std::mutex> lock(mutex_);
+        condition_.wait(lock, [&] { return !pending_.empty(); });
+        value = std::move(pending_.front());
+        pending_.pop_front();
+      }
+      value->stop();
+    }
+  }
+
+  std::mutex mutex_;
+  std::condition_variable condition_;
+  std::deque<std::unique_ptr<Value>> pending_;
+  std::thread worker_;
+};
+
+template <typename Value> DeferredDestroyer<Value> &deferred_destroyer() {
+  // Callbacks can outlive static teardown. Keeping this worker alive for the
+  // process lifetime avoids both destruction-order races and lost enqueues.
+  static auto *instance = new DeferredDestroyer<Value>;
+  return *instance;
+}
+
+} // namespace
 
 Client::Client(Config config) : impl_(std::make_unique<Impl>(std::move(config))) {}
 
-Client::~Client() { stop(); }
+Client::~Client() {
+  if (impl_ && impl_->called_from_worker_thread()) {
+    impl_->stop();
+    deferred_destroyer<Impl>().enqueue(std::move(impl_));
+    return;
+  }
+  stop();
+}
 
 void Client::start(SampleCallback callback) { impl_->start(std::move(callback)); }
 

core/src/detail/client_impl.hpp

@@ -24,6 +24,11 @@ class NETFT_LOCAL Client::Impl {
 
   void start(SampleCallback callback);
   void stop() noexcept;
+  [[nodiscard]] bool called_from_worker_thread() const noexcept {
+    std::scoped_lock lifecycle_lock(lifecycle_mutex_);
+    return !worker_exited_.load(std::memory_order_acquire) &&
+           active_worker_id_ == std::this_thread::get_id();
+  }
   void bias();
   bool wait_for_first_sample(std::chrono::duration<double> timeout);
   bool faulted() const noexcept;