feat: update examples and README with streaming support and uint32 force types

- Change CForce3D fx/fy/fz from int16 to uint32 to match hardware
- Add independent C++ example with command and streaming modes
- Rewrite Python example with threaded streaming (read_loop + consumer pattern)
- Add ROS2 C++ publisher/subscriber examples
- Update README with streaming APIs, ROS2 docs, data type definitions, and full FFI table
- Add CHANGELOG

include/eskin_ffi.h

@@ -113,8 +113,32 @@ EskinSdkErrorCode eskin_write_matrix_col(
     uint16_t* return_count
 );
 
+// Streaming interfaces
+
+typedef struct {
+    uint32_t fx;
+    uint32_t fy;
+    uint32_t fz;
+} CForce3D;
+
+typedef struct {
+    uint32_t module;
+    CForce3D force;
+} CCombinedForce;
+
+typedef struct {
+    uint64_t timestamp_us;
+    uint32_t sequence;
+    CCombinedForce combined_force;
+} CFingerSample;
+
+EskinSdkErrorCode eskin_start_stream(EskinDeviceHandle handle);
+EskinSdkErrorCode eskin_stop_stream(EskinDeviceHandle handle);
+EskinSdkErrorCode eskin_read_sample(EskinDeviceHandle handle, uint32_t timeout_ms, CFingerSample* out);
+EskinSdkErrorCode eskin_get_mode(EskinDeviceHandle handle, uint32_t* out);
+
 #ifdef __cplusplus
 }
 #endif
 
-#endif
+#endif