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@github-actions github-actions released this 03 Aug 09:57
· 46 commits to main since this release
v0.5.0
a29a951

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
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