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Version: 3.5.x

v3.5.1

3.5.1 is a stabilization and quality release. Headline themes: auto-pairing for 1↔1 Inverse3 + grip setups, fresh GET /devices/{id} motion state without an open WebSocket session, an end to the force/position mode-flip screech, and a self-tuning service tick scheduler under sustained load.

Highlights​

  • Auto-pairing for 1↔1 Inverse3 + grip installs. When one Inverse3 and one grip are ready, the SDK registers a pairing automatically — pen_attached and Minverse calibration unlock stop misrouting in multi-device setups.
  • Fresh GET /devices/{id} snapshots without an open session. Inverse3 / Inverse3x / Minverse on firmware v7.5+ now have motion state polled at 20 Hz regardless of WebSocket activity. Pre-v7.5 firmware skips the poll and warns once.
  • Force/Position swap no longer screeches. Switching set_cursor_force ↔ set_cursor_position is slot-exclusive — only the latest per device survives between ticks. HARP's 200 ms idle-gap workaround is obsolete.
  • Self-tuning tick scheduler. The main loop adapts its dispatch rate under load so a slow tick can't grow the command queue without bound.
  • 1-in-1-out streaming replies under load. Per-WS-message streaming replies are capped at 1/ms per session; the previous buffer is replayed when the cap denies, so sim loops never block on recv().

Internal improvements​

Devices​

  • Per-device Inverse3 ↔ VerseGrip pairing registry. GET|POST|DELETE /devices/{sel}/paired_with is a per-device 1:1 map. POST evicts conflicts on either side; DELETE clears the selected entry; selector must resolve to one ID.
  • 20 Hz motion-state poll on firmware v7.5+. GET /devices/{id} returns fresh cursor_position, cursor_velocity, angular_position, angular_velocity every 50 ms; transparent to active sessions.
  • Wireless VerseGrip set_extension_data rate-controlled. Drop-older / repeat-on-idle pipeline drained on the service tick — over-sending no longer saturates the radio link, under-sending no longer leaves a stale value.

Sessions​

  • New WS-receive fast-path for control-only batches (force/position) skips the configure-aware pipeline; configure / set_profile / custom commands still go through the race-fix.

Observability​

  • Detection log cadence is per-port and chronicity-aware. Each blacklisted port is gated independently; the recurring "...blacklisted: skipping" line now carries (×N) for ticks silenced between fires.
  • Wireless VerseGrip detection no longer floods the log when a non-WVG device is probed.

Fixes​

  • POST /device.config.preset with defaults or arm_front now resets the device's mount to the factory preset (was a silent no-op). basis is preserved so app-configured bases survive mount preset changes.
  • force_render_full_state no longer returns a snapshot with a missing config block when the matching configure landed in the same WS message — the configure path drains synchronously before the snapshot.
  • Cross-session force_render_full_state returns the target's full snapshot. Both A and B now see a full payload (was: A received streaming-only).
  • Cross-session commands with an unknown target_session_id no longer hang the request-reply loop. Requester receives its own snapshot + a session-command-dropped event (cross-session-unknown-target).
  • Minverse multi-device calibration unlocks no longer misroute. Calibrating Minverse A no longer unlocks Minverse B; same fix for the inkwell-success heading broadcast.
  • HTTP device selector accepts #1234 and 1234 as device ID; selector classes (inverse3, verse_grip) work alongside index; 404 messages preserve the original selector expression.
  • Wireless VerseGrip ready flag is now gated on the initial device-info handshake — previously possible to flip before the device fully announced itself on certain re-attach paths.
  • Runtime changes to keyed-rate-gate-backed settings now take effect on the next hit (was: frozen at first emplace; only new sessions picked up the change).

Potential breaking changes​

  • HTTP 404 strings unified across basis, preset, mount, transform, force_gate: "{type} device #{id} not found" → "no device matches selector '{expr}'". Session 404 likewise.
  • Settings glob devices/inverse*/... → devices/*inverse/... for force-scale gain, force-gate gain, control timeout, safeties/expose_in_snapshot. 3.5.0 settings files using the old literal will fail to bind.
  • Settings: serialization globals moved to session/serialization/* (explicit_fields, force_complete_transforms, preview/*). Old serialization/* paths still resolve via deprecated aliases; removal at 4.0.
  • Behaviour: clients using the per-message WS reply as a tick-sync handshake see at most one reply per ms per session under sustained traffic. Full snapshots on config change are unaffected.

Deprecations​

None in 3.5.1. The preview master switch is the deprecation plumbing for the upcoming 3.6 silent-to-warn pipeline; the first deprecation pass is scheduled for 3.5.2.