From 82a959ef8e480ac5d172d8e8ba33e08a70a7f891 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 30 Apr 2026 16:25:34 -0700
Subject: [PATCH] add vendored acados package (#37933)

---
 pyproject.toml |  1 +
 uv.lock        | 10 ++++++++++
 2 files changed, 11 insertions(+)

diff --git a/pyproject.toml b/pyproject.toml
index d7af83d40..5b5b1aa57 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -28,6 +28,7 @@ dependencies = [
   # vendored native dependencies
   "bzip2 @ git+https://github.com/commaai/dependencies.git@release-bzip2#subdirectory=bzip2",
   "capnproto @ git+https://github.com/commaai/dependencies.git@release-capnproto#subdirectory=capnproto",
+  "acados @ git+https://github.com/commaai/dependencies.git@release-acados#subdirectory=acados",
   "eigen @ git+https://github.com/commaai/dependencies.git@release-eigen#subdirectory=eigen",
   "ffmpeg @ git+https://github.com/commaai/dependencies.git@release-ffmpeg#subdirectory=ffmpeg",
   "libjpeg @ git+https://github.com/commaai/dependencies.git@release-libjpeg#subdirectory=libjpeg",
diff --git a/uv.lock b/uv.lock
index f8278c136..d76b1bb39 100644
--- a/uv.lock
+++ b/uv.lock
@@ -2,6 +2,14 @@ version = 1
 revision = 3
 requires-python = ">=3.12.3, <3.13"
 
+[[package]]
+name = "acados"
+version = "0.2.2"
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=acados&rev=release-acados#2dc0ff804cab5f495641e5e45c6061296445d6cb" }
+dependencies = [
+    { name = "numpy" },
+]
+
 [[package]]
 name = "aiohappyeyeballs"
 version = "2.6.1"
@@ -745,6 +753,7 @@ name = "openpilot"
 version = "0.1.0"
 source = { editable = "." }
 dependencies = [
+    { name = "acados" },
     { name = "aiohttp" },
     { name = "aiortc" },
     { name = "av" },
@@ -822,6 +831,7 @@ tools = [
 
 [package.metadata]
 requires-dist = [
+    { name = "acados", git = "https://github.com/commaai/dependencies.git?subdirectory=acados&rev=release-acados" },
     { name = "aiohttp" },
     { name = "aiortc" },
     { name = "av" },