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