v0.6.0

Rust

[0.6.0] - 2026-08-04

💥 Breaking Changes

• [breaking] Return RemoteLinkOption from discover() in Python/C# bindings
• [breaking] Make wire enums non-exhaustive and rename Telemetry::COUNT
• [breaking] Mark the public enums non-exhaustive
• [breaking] Rename TransitionMode::as_u8 to try_as_u8
• [breaking] Give LinkError a message accessor and an error source
• [breaking] Encapsulate LinkStatus and CycleOutcome behind accessors
• [breaking] Replace the core_affinity CoreId re-export with a core newtype
• [breaking] Seal the Operation trait
• [breaking] Require a non-zero ClientConfig::timeout_cycles
• [breaking] Rename the holo ControlPoint to AmplitudeTarget
• [breaking] Replace Response::data_mut with Response::merge
• [breaking] Return the emission from null_transducer
• [breaking] Stop re-exporting the value types at the autd3-rs root
• [breaking] Rebuild the C ABI on opaque option handles
• [breaking] Follow the C ABI rework in the C# bindings
• [breaking] Return the reason a link opener could not be created

🚀 Features

• Rename autd3-appliance list to scan
• Detect firmware outside the supported series
• Re-export nalgebra from the core and holo crates

🐛 Bug Fixes

• (console) Bundle twincat-cli again by building it in CI
• (appliance) Tolerate bus and uplink states this client does not know
• Distinguish a rejected telemetry counter from a counter value of 2

Python

[0.6.0] - 2026-08-04

💥 Breaking Changes

• [breaking] Return RemoteLinkOption from discover() in Python/C# bindings
• [breaking] Make wire enums non-exhaustive and rename Telemetry::COUNT
• [breaking] Encapsulate LinkStatus and CycleOutcome behind accessors
• [breaking] Replace the core_affinity CoreId re-export with a core newtype
• [breaking] Require a non-zero ClientConfig::timeout_cycles
• [breaking] Rename the holo ControlPoint to AmplitudeTarget
• [breaking] Follow the C ABI rework in the Python bindings
• [breaking] Return the reason a link opener could not be created

C#

[0.6.0] - 2026-08-04

💥 Breaking Changes

• [breaking] Return RemoteLinkOption from discover() in Python/C# bindings
• [breaking] Make wire enums non-exhaustive and rename Telemetry::COUNT
• [breaking] Rename the holo ControlPoint to AmplitudeTarget
• [breaking] Follow the C ABI rework in the C# bindings
• [breaking] Return the reason a link opener could not be created

unity-v0.6.0

[0.6.0] - 2026-08-04

firmware-v0.6.0

[0.6.0] - 2026-08-04

💥 Breaking Changes

• [breaking] Make wire enums non-exhaustive and rename Telemetry::COUNT

console-v0.6.0

Install console 0.6.0

Install prebuilt binaries via shell script

curl --proto '=https' --tlsv1.2 -LsSf https://github.com/shinolab/autd3-sdk/releases/download/console-v0.6.0/console-installer.sh | sh

Install prebuilt binaries via powershell script

irm https://github.com/shinolab/autd3-sdk/releases/download/console-v0.6.0/console-installer.ps1 | iex

Download console 0.6.0

File	Platform	Checksum
console-aarch64-apple-darwin.tar.xz	Apple Silicon macOS	checksum
console-x86_64-pc-windows-msvc.zip	x64 Windows	checksum
console-x86_64-unknown-linux-gnu.tar.xz	x64 Linux	checksum

appliance-v0.6.0

[0.6.0] - 2026-08-04

🚀 Features

• Rename autd3-appliance list to scan

🐛 Bug Fixes

• (appliance) Tolerate bus and uplink states this client does not know

v0.5.0

Rust

[0.5.0] - 2026-08-03

💥 Breaking Changes

• [breaking] Pass the holo LinAlgBackend as an argument, not an option field
• [breaking] Add a wgpu LinAlgBackend for holo with batched APIs and backend-side quantization
• [breaking] Correct SysTime drift by retiming onto the EtherCAT bus clock
• [breaking] Let bindings select the default, an explicit, or no RT priority
• [breaking] Rename legacy drive terminology to emission
• (holo) [breaking] Take Angle in Directivity::value instead of raw radians
• (appliance) [breaking] Ship the EtherCAT master as a zero-config appliance

🚀 Features

• (holo) Take batch foci as a single flat slice
• (link-echocat) Add echocat, an EtherCAT main device for AUTD3
• Add TransitionMode::Later to stage a bank without switching to it
• (legacy) Add a compatibility client for the legacy firmware v12.1.0
• Make echocat the default link and add its bindings
• (link) Report phase excursions and process-data exchange time through LinkStats

🐛 Bug Fixes

• (client) Return the frame slot when a send races the RT teardown
• (legacy) Always run the full mute sequence on close and drop
• Retime legacy SysTime onto the EtherCAT bus clock
• (echocat) Bound cyclic receive to one cycle and report a silent bus as lost
• Harden the legacy client and reject indivisible STM periods
• (legacy) Advance the emulator clock and match the firmware v12.1.0 quirks
• Harden the DC clock offset and rename dc_sys_time to bus_time_now
• Apply RT scheduling to the client and tx/rx threads by default outside Windows
• Desync the state mirror on device errors observed through the raw send path
• Write logs through a non-blocking writer in every binary

⚡ Performance

• Remove hypot and atan2 from holo hot paths
• (holo) Fuse the GSPAT iteration into a single GPU dispatch

Python

[0.5.0] - 2026-08-03

💥 Breaking Changes

• [breaking] Pass the holo LinAlgBackend as an argument, not an option field
• [breaking] Add a wgpu LinAlgBackend for holo with batched APIs and backend-side quantization
• [breaking] Correct SysTime drift by retiming onto the EtherCAT bus clock
• [breaking] Let bindings select the default, an explicit, or no RT priority
• [breaking] Rename legacy drive terminology to emission
• (emulator) [breaking] Type record option sound_speed as Velocity
• (appliance) [breaking] Ship the EtherCAT master as a zero-config appliance

🚀 Features

• Add TransitionMode::Later to stage a bank without switching to it
• (legacy) Add a compatibility client for the legacy firmware v12.1.0
• Make echocat the default link and add its bindings

🐛 Bug Fixes

• Retime legacy SysTime onto the EtherCAT bus clock
• (echocat) Bound cyclic receive to one cycle and report a silent bus as lost
• Harden the legacy client and reject indivisible STM periods

C#

[0.5.0] - 2026-08-03

💥 Breaking Changes

• [breaking] Pass the holo LinAlgBackend as an argument, not an option field
• [breaking] Add a wgpu LinAlgBackend for holo with batched APIs and backend-side quantization
• [breaking] Correct SysTime drift by retiming onto the EtherCAT bus clock
• [breaking] Let bindings select the default, an explicit, or no RT priority
• (appliance) [breaking] Ship the EtherCAT master as a zero-config appliance

🚀 Features

• Add TransitionMode::Later to stage a bank without switching to it
• (legacy) Add a compatibility client for the legacy firmware v12.1.0
• Make echocat the default link and add its bindings

🐛 Bug Fixes

• Retime legacy SysTime onto the EtherCAT bus clock
• (echocat) Bound cyclic receive to one cycle and report a silent bus as lost
• Harden the legacy client and reject indivisible STM periods

unity-v0.5.0

[0.5.0] - 2026-08-03

🚀 Features

• Make echocat the default link and add its bindings

console-v0.5.0

Install console 0.5.0

Install prebuilt binaries via shell script

curl --proto '=https' --tlsv1.2 -LsSf https://github.com/shinolab/autd3-sdk/releases/download/console-v0.5.0/console-installer.sh | sh

Install prebuilt binaries via powershell script

irm https://github.com/shinolab/autd3-sdk/releases/download/console-v0.5.0/console-installer.ps1 | iex

Download console 0.5.0

File	Platform	Checksum
console-aarch64-apple-darwin.tar.xz	Apple Silicon macOS	checksum
console-x86_64-pc-windows-msvc.zip	x64 Windows	checksum
console-x86_64-unknown-linux-gnu.tar.xz	x64 Linux	checksum

appliance-v0.5.0

[0.5.0] - 2026-08-03

💥 Breaking Changes

• (appliance) [breaking] Ship the EtherCAT master as a zero-config appliance

v0.4.0

Rust

[0.4.0] - 2026-07-27

💥 Breaking Changes

• [breaking] Configure RT thread scheduling policy
• [breaking] Report firmware emulator via FirmwareVersion::is_emulator and [Emulator] display
• [breaking] Remove the XorHash command and fold patternsoak into perftest
• [breaking] Pass Device to Operation::encode and validate transducer counts per device
• [breaking] Pass &Device to push_each assign closure instead of device index
• [breaking] Make Operation single-frame and expand buffer writes as Commands
• [breaking] Reject modulation/STM buffers smaller than two samples
• [breaking] Remove ClientConfig::send_interval_cycles
• [breaking] Unify in_flight naming to inflight
• [breaking] Make ClientConfig::reset_resend_cycles NonZeroU32

🚀 Features

• Expose SYNC0 resync count via SyncResync telemetry
• Fuse pattern/modulation write+config+bank-change into one frame
• (autd3-rs) Add tracing instrumentation to send path and datagram builder

🐛 Bug Fixes

• Correct FOCUS_TR_X_MAX off-by-one by deriving coord/emission constants from FPGA sources
• Convert foci into device-local coordinates and send phase offsets relative to the first focus
• Check every compressed pattern group for the requested device index
• (client) Recover slots on link error and desync the mirror on any send failure
• Make stop() write a null pattern instead of clearing the output mask
• (link) Default Windows EtherCAT to a 2ms cycle with zero shift
• (client) Default RT thread to TimeCritical priority on Windows
• (holo) Account for emission intensity in greedy search

⚡ Performance

• Encode datagrams in place when building frames

📦 Dependencies

• (deps) Move single-crate deps out of workspace.dependencies
• (deps) Bump the cargo-minor group across 5 directories with 2 updates
• (deps) Bump cc in the cargo-minor group across 1 directory

Python

[0.4.0] - 2026-07-27

💥 Breaking Changes

• [breaking] Configure RT thread scheduling policy
• [breaking] Report firmware emulator via FirmwareVersion::is_emulator and [Emulator] display
• [breaking] Pass Device to Operation::encode and validate transducer counts per device
• [breaking] Pass &Device to push_each assign closure instead of device index
• [breaking] Reject modulation/STM buffers smaller than two samples
• [breaking] Remove ClientConfig::send_interval_cycles
• [breaking] Unify in_flight naming to inflight
• [breaking] Make ClientConfig::reset_resend_cycles NonZeroU32

📦 Dependencies

• (deps) Bump the cargo-minor group across 5 directories with 2 updates
• (deps) Bump cc in the cargo-minor group across 1 directory

C#

[0.4.0] - 2026-07-27

💥 Breaking Changes

• [breaking] Report firmware emulator via FirmwareVersion::is_emulator and [Emulator] display
• [breaking] Pass Device to Operation::encode and validate transducer counts per device
• [breaking] Pass &Device to push_each assign closure instead of device index
• [breaking] Remove ClientConfig::send_interval_cycles

🐛 Bug Fixes

• (link) Default Windows EtherCAT to a 2ms cycle with zero shift