Samples and health

`netft::Sample`

#include <netft/types.hpp>netft-cpp 0.3.3

struct Sample;

Fields

Name	Type	Default	Mutability
`rdt_sequence`	`std::uint32_t`		Mutable
`ft_sequence`	`std::uint32_t`		Mutable
`status`	`std::uint32_t`		Mutable
`raw_wrench`	`std::array<std::int32_t, 6>`		Mutable
`force`	`std::array<double, 3>`		Mutable
`torque`	`std::array<double, 3>`		Mutable
`force_unit`	`ForceUnit`	`ForceUnit::Unknown`	Mutable
`torque_unit`	`TorqueUnit`	`TorqueUnit::Unknown`	Mutable
`configuration_revision`	`std::uint64_t`		Mutable
`received_at`	`std::chrono::steady_clock::time_point`	Required	Mutable

received_at uses the host monotonic clock. It supports age and interval calculations but is not a sensor-side wall-clock acquisition timestamp.

`netft::HealthSnapshot`

#include <netft/types.hpp>netft-cpp 0.3.3

struct HealthSnapshot;

Fields

Name	Type	Default	Mutability
`state`	`ClientState`	`ClientState::Stopped`	Mutable
`fault_code`	`FaultCode`	`FaultCode::None`	Mutable
`sensor_host`	`std::string`	Required	Mutable
`rdt_port`	`int`		Mutable
`sensor_configuration`	`std::optional<SensorConfiguration>`	Required	Mutable
`last_rdt_sequence`	`std::optional<std::uint32_t>`	Required	Mutable
`last_ft_sequence`	`std::optional<std::uint32_t>`	Required	Mutable
`last_status`	`std::uint32_t`		Mutable
`receive_rate_hz`	`double`		Mutable
`delivery_rate_hz`	`double`		Mutable
`received_count`	`std::uint64_t`		Mutable
`delivered_count`	`std::uint64_t`		Mutable
`rate_limited_count`	`std::uint64_t`		Mutable
`device_error_count`	`std::uint64_t`		Mutable
`warning_count`	`std::uint64_t`		Mutable
`lost_count`	`std::uint64_t`		Mutable
`duplicate_count`	`std::uint64_t`		Mutable
`out_of_order_count`	`std::uint64_t`		Mutable
`malformed_count`	`std::uint64_t`		Mutable
`reconnect_count`	`std::uint64_t`		Mutable
`timeout_count`	`std::uint64_t`		Mutable
`callback_error_count`	`std::uint64_t`		Mutable
`ft_stall_count`	`std::uint64_t`		Mutable
`ft_backward_count`	`std::uint64_t`		Mutable
`ft_restart_count`	`std::uint64_t`		Mutable
`calibration_change_count`	`std::uint64_t`		Mutable
`last_record_age`	`std::optional<std::chrono::duration<double>>`	Required	Mutable
`last_error`	`std::string`	Required	Mutable
`last_ft_progress`	`std::string`	`"unknown"`	Mutable

Receive, delivery, rate-limit, network-loss, callback, recovery, device, and measurement-sequence counters describe different boundaries. last_error is diagnostic text; branch on state, fault code, status, and counters.