> ## Documentation Index
> Fetch the complete documentation index at: https://motorbridge.seeedstudio.com/llms.txt
> Use this file to discover all available pages before exploring further.

# MotorBridge 0.4.0 Release Test Note

<Note>Source: `release_test_notes/0.4.0.md`</Note>

# MotorBridge 0.4.0 Release Test Note

Date: 2026-06-02

## Summary

Fixes Damiao `dm-serial` whole-arm scanning and telemetry through the
WebSocket gateway, especially on Windows. Adds `damiao_state_many` for
multi-joint browser telemetry.

## Version Alignment

| Component             | Version  |
| --------------------- | -------- |
| Git release tag       | `v0.4.0` |
| Rust workspace crates | `0.4.0`  |
| Python package        | `0.4.0`  |
| C++ package metadata  | `0.4.0`  |

## Key Changes

### Added

* WebSocket gateway `damiao_state_many` for Damiao multi-joint state reads, so
  browser HMIs can refresh every discovered joint in one logical request over
  `dm-serial`.
* Damiao state identity fields (`motor_id`, `feedback_id`, `model`) in gateway
  state snapshots, allowing clients to merge whole-arm telemetry by joint.
* Capability discovery for the Damiao multi-state operation.

### Fixed

* Fixed Windows Damiao `dm-serial` whole-arm scans in the WebSocket gateway by
  releasing active Damiao sessions and stopping state/parameter streams before
  scan probes reuse the serial port.
* Fixed stale Damiao state reads by requesting fresh feedback with a bounded
  timeout before returning gateway state snapshots.
* Fixed `param_stream enabled=false` so disabling the stream no longer opens or
  reopens hardware sessions.
* Fixed RobStride scan/session release handling to keep the same scan-safe
  behavior introduced for Windows PCAN.

## See Also

* [WebSocket Gateway](/source/integrations/ws-gateway/overview)